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Soft constraints support for interfaces other than HPIPM #310

Merged
merged 36 commits into from
Jul 17, 2018
Merged

Soft constraints support for interfaces other than HPIPM #310

merged 36 commits into from
Jul 17, 2018

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bnovoselnik
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@bnovoselnik bnovoselnik commented Jun 20, 2018 •
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  • provides functions to reformulate dense QPs and OCP QPs with soft constraints from structure exploiting formulation (used by HPIPM) to a more general formulation that can be used by other solvers as well
  • slacks are explicitly stacked with optimization variables and problem matrices are extended accordingly
  • QPOASES and QORE interfaces in ACADOS have been extended to use this reformulation when presented with a dense QP with soft constraints (tested in mass spring and wind turbine examples)
  • OCP QP reformulation is not that usefull maybe, because QPDUNES cannot use it as it is (if there are soft constraints on states in the last stage for example) and HPMPC has some numerical troubles that I was not able to overcome (by tweaking HPMPC parameters). At this point, only HPIPM can solve this reformulated OCP (I used it just to test the correctness of the reformulation) but of course HPIPM doesn't need it :)

Should be noted: this PR uses a slightly newer version of HPIPM (bba890a).

bnovoselnik and others added 30 commits May 25, 2018 15:10
@bnovoselnik
added soft constraints to qpoases interface (TODO: fix dual sol)
098489b
@bnovoselnik
Merge branch 'master' of https://github.com/acados/acados into qpoase…
4570d01 
…s_soft
@bnovoselnik
Merge pull request #2 from giaf/master
908d84c 
dense qp residuals fix for ns>0
@bnovoselnik
Merge branch 'master' of https://github.com/bnovoselnik/acados into q…
9a74559 
…poases_soft
@bnovoselnik
fixed dual variabls in qpoases for ns>0
ed91934
@bnovoselnik
small bug fix
8360de3
@bnovoselnik
compute slacks for dense qp, soft constraints in qpoases
b8b1134
@bnovoselnik
compute slacks in ocp qp
25b8851
@bnovoselnik
print
082e94d
@bnovoselnik
examples, bump blasfeo, hpipm
753399f
@bnovoselnik
merged upstream
13adf52
@giaf
Merge branch 'master' into qpoases_soft
4029a3e
@bnovoselnik
changed the order of slacks in stacked qp to match the ordering in hpipm
78ef1ac
@bnovoselnik
Merge branch 'qpoases_soft' of https://github.com/bnovoselnik/acados …
ec742e4 
…into qpoases_soft
@bnovoselnik
enabled soft constraints in mass spring example
6315423
@bnovoselnik
cleaned the code
fe6bc4d
@bnovoselnik
fixed mass spring
55dabaa
@bnovoselnik
added t_computed to partial condensed solver
32b0331
@bnovoselnik
started on soft constraints in qore interface
590d8ae
@bnovoselnik
merging tweaks from giaf fork
f4351ad
@bnovoselnik
fixed mass spring examples
2a9281a
@bnovoselnik
Merge branch 'qpoases_soft' of https://github.com/bnovoselnik/acados …
c9cd7c0 
…into qore_soft
@bnovoselnik
enabled soft constraints in qore interface
97f8f58
@bnovoselnik
tested qore with soft constraints in mass spring and wind turbine exa…
caafd78 
…mples
@bnovoselnik
used acados infty for bounds
a247b8d
@bnovoselnik
changed the number of general constraints in stacked qp
466d559
@bnovoselnik
fixed a small bug in dense qp stack slacks
5233fb3
@bnovoselnik
added slack stacking to ocp qp common
edf15a9
@bnovoselnik
decreased bounds for slacks
8160007
@bnovoselnik
fixed lint
c7c6e8c
giaf
giaf reviewed Jun 26, 2018
View reviewed changes
examples/c/chain_model/chain_model.h
@@ -7,6 +7,24 @@
extern "C" {
#endif

#define X0_NM2_FILE "/home/bnovoselnik/Software/acados/examples/c/chain_model/x0_nm2.txt"
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This file got changed my cmake... We should find a better way of doing that, everyone added it to a commit at least once :p

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I agree, it's really annoying :)

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giaf commented Jun 26, 2018

@bnovoselnik travis is failing for all compilers, stating that d_ocp_qp has no member 'm'. So it looks like an older version of HPIPM is used.

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bnovoselnik commented Jun 26, 2018 •
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@giaf Yep, that's true. The problem is that the version bba890a also lacks one small bug fix from a newer version of HPIPM (4ee5ab4) which is relevant for soft constraints. I wanted to bump ACADOS to the newest version of HPIPM (which would include this bug fix as well) but I couldn't do it because of a problem with redeclaration of enums in HPIPM (see this issue I opened not loo long ago: giaf/hpipm#30)

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giaf commented Jun 27, 2018

Ok, yesterday I was working a bit on the enums issue in HPIPM, today I didn't have any time. I'll try to finish it tomorrow.

@giaf giaf merged commit a05f719 into acados:master Jul 17, 2018
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