Upstreamed and update acados (commaai#23927)

* change acados version to finalized PR acados/acados#791 * acados: update include and x86_64 build * acados: update pyextra * adapt mpc files to updated acados * acados buid: clear acados_template and include dir before updating * update acados again * acados MPC: only generate solver, building is done via scons * update acados to latest acados/master * c3 libs * c2 libs * acados scons files: add acados build script as a dependency * acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common * update acados * adapts long & lat MPC file * update acados reference commit to acados/master Co-authored-by: Comma Device <device@comma.ai>
budney · Mar 27, 2022 · 204b0b5 · 204b0b5
1 parent ccbdcee
commit 204b0b5
Show file tree

Hide file tree

Showing 51 changed files with 1,588 additions and 1,595 deletions.
diff --git a/pyextra/acados_template/acados_layout.json b/pyextra/acados_template/acados_layout.json
@@ -5,6 +5,9 @@
     "acados_include_path": [
         "str"
     ],
+    "cython_include_dirs": [
+        "str"
+    ],
     "model": {
          "name" : [
             "str"
@@ -23,7 +26,15 @@
         ],
         "dyn_disc_fun" : [
             "str"
-        ]
+        ],
+        "gnsf" : {
+            "nontrivial_f_LO": [
+                "int"
+            ],
+            "purely_linear": [
+                "int"
+            ]
+        }
     },
     "parameter_values": [
         "ndarray",
@@ -693,6 +704,18 @@
         "alpha_reduction": [
             "float"
         ],
+        "line_search_use_sufficient_descent": [
+            "int"
+        ],
+        "globalization_use_SOC": [
+            "int"
+        ],
+        "full_step_dual": [
+            "int"
+        ],
+        "eps_sufficient_descent": [
+            "float"
+        ],
         "sim_method_num_stages": [
             "ndarray",
             [

diff --git a/pyextra/acados_template/acados_model.py b/pyextra/acados_template/acados_model.py
@@ -78,6 +78,13 @@ def __init__(self):
         self.dyn_disc_fun_jac = None  #: name of function discrete dyanamics + jacobian; Default: :code:`None`
         self.dyn_disc_fun = None  #: name of function discrete dyanamics; Default: :code:`None`
 
+        # for GNSF models
+        self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
+        """
+        dictionary containing information on GNSF structure needed when rendering templates.
+        Contains integers `nontrivial_f_LO`, `purely_linear`.
+        """
+
         ## for OCP
         # constraints
         self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`