mex templates: checks on supported formulations

acados · Oct 10, 2019 · 0283cbc · 0283cbc
1 parent eb21716
commit 0283cbc
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Showing 2 changed files with 22 additions and 9 deletions.
diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_closed_loop.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_closed_loop.m
@@ -59,7 +59,7 @@
 %nlp_solver = 'sqp_rti';
 %nlp_solver_exact_hessian = 'false';
 nlp_solver = 'sqp'; % sqp, sqp_rti
-nlp_solver_exact_hessian = 'true';
+nlp_solver_exact_hessian = 'false';
 regularize_method = 'project_reduc_hess'; % no_regularize, project,...
 	% project_reduc_hess, mirror, convexify
 %regularize_method = 'mirror';

diff --git a/interfaces/acados_matlab_octave/ocp_generate_c_code.m b/interfaces/acados_matlab_octave/ocp_generate_c_code.m
@@ -9,14 +9,27 @@ function ocp_generate_c_code(obj)
             end
         end
 
-        % add checks for 
-        % 1) nonlinear least-squares (jeez)
-        % 2) Vz (already implemented?)
-        % 3) exact Hessian
-        % 4) external cost
-        % 5) GNSF
-        % 6) discrete dynamics
-
+        % add checks for
+        if ~strcmp( obj.model_struct.cost_type, 'linear_ls' ) || ...
+           ~strcmp( obj.model_struct.cost_type_e, 'linear_ls' )
+            error('mex templating does only support linear_ls cost for now');
+            % TODO: add
+            % nonlinear least-squares
+            % external cost
+        elseif isfield( obj.model_struct, 'cost_Vz') && any(obj.model_struct.cost_Vz)
+            error('mex templating does not support nonzero cost_Vz for yet.');
+            % TODO add Vz (already implemented?)
+        elseif ~strcmp( obj.opts_struct.nlp_solver_exact_hessian, 'false')
+            error('mex templating does only support nlp_solver_exact_hessian = false, i.e. Gauss-Newton Hessian approximation for now.');
+            % TODO: add exact Hessian
+        elseif strcmp( obj.model_struct.dyn_type, 'discrete')
+            error('mex templating does only support continuous dynamics for now.');
+            % TODO: implement
+        elseif strcmp( obj.opts_struct.sim_method, 'irk_gnsf')
+            error('mex templating does not support irk_gnsf integrator yet.')
+            % TODO: implement
+        end
+
         % set include and lib path
         acados_folder = getenv('ACADOS_INSTALL_DIR');
         obj.acados_ocp_nlp_json.acados_include_path = [acados_folder, '/include'];