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Merge pull request #266 from do-mpc/develop
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Preparation for v4.3.4
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@4flixt
4flixt committed May 18, 2022
2 parents 374e1d9 + bbb858e commit 490f2c8
Showing 1 changed file with 34 additions and 29 deletions.
63 changes: 34 additions & 29 deletions do_mpc/model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ def x0(self):
mpc.x0['temperature'] # all elements of variable
mpc.x0['temperature', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
Expand Down Expand Up @@ -138,7 +138,7 @@ def u0(self):
mpc.u0['heating'] # all elements of variable
mpc.u0['heating', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
Expand Down Expand Up @@ -176,7 +176,7 @@ def z0(self):
mpc.z0['temperature'] # all elements of variable
mpc.z0['temperature', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
Expand Down Expand Up @@ -371,6 +371,10 @@ def _getvar(self, var_name):
else:
# Before calling setup the attributes _x,_u,_z etc. are dicts with the keys: name and var.
sym_dict = getattr(self, var_name)
if var_name == '_aux_expression': # or possibly '_aux, depending on what is called in the getter
# create the required dict from what is currently a
sym_dict = {'name':[entry.name for entry in sym_dict],
'var': [entry.expr for entry in sym_dict]}
# We use the same method as in setup to create symbolic structures from these dicts
sym_struct = self._convert2struct(sym_dict)
# We then create a mutable structure of the same structure
Expand Down Expand Up @@ -403,7 +407,7 @@ def x(self):
model.x['temperature'] # all elements of variable
model.x['temperature', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
Expand All @@ -412,13 +416,13 @@ def x(self):
* ``.labels()``
:raises assertion: Cannot set model variables direcly. Use set_variable instead.
:raises assertion: Cannot set model variables directly Use set_variable instead.
"""
return self._getvar('_x')

@x.setter
def x(self, val):
raise Exception('Cannot set model variables direcly. Use set_variable instead.')
raise Exception('Cannot set model variables directly Use set_variable instead.')

@property
def u(self):
Expand All @@ -441,21 +445,21 @@ def u(self):
model.u['heating'] # all elements of variable
model.u['heating', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
* ``.keys()``
* ``.labels()``
:raises assertion: Cannot set model variables direcly. Use set_variable instead.
:raises assertion: Cannot set model variables directly Use set_variable instead.
"""
return self._getvar('_u')

@u.setter
def u(self, val):
raise Exception('Cannot set model variables direcly. Use set_variable instead.')
raise Exception('Cannot set model variables directly Use set_variable instead.')

@property
def z(self):
Expand All @@ -478,7 +482,7 @@ def z(self):
model.z['temperature'] # all elements of variable
model.z['temperature', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
Expand All @@ -487,13 +491,13 @@ def z(self):
* ``.labels()``
:raises assertion: Cannot set model variables direcly. Use set_variable instead.
:raises assertion: Cannot set model variables directly Use set_variable instead.
"""
return self._getvar('_z')

@z.setter
def z(self, val):
raise Exception('Cannot set model variables direcly. Use set_variable instead.')
raise Exception('Cannot set model variables directly Use set_variable instead.')

@property
def p(self):
Expand All @@ -516,7 +520,7 @@ def p(self):
model.p['temperature'] # all elements of variable
model.p['temperature', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
Expand All @@ -525,13 +529,13 @@ def p(self):
* ``.labels()``
:raises assertion: Cannot set model variables direcly. Use set_variable instead.
:raises assertion: Cannot set model variables directly Use set_variable instead.
"""
return self._getvar('_p')

@p.setter
def p(self, val):
raise Exception('Cannot set model variables direcly. Use set_variable instead.')
raise Exception('Cannot set model variables directly Use set_variable instead.')

@property
def tvp(self):
Expand All @@ -554,21 +558,21 @@ def tvp(self):
model.tvp['temperature'] # all elements of variable
model.tvp['temperature', 0:2] # 0th and 1st element
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
* ``.keys()``
* ``.labels()``
:raises assertion: Cannot set model variables direcly. Use set_variable instead.
:raises assertion: Cannot set model variables directly Use set_variable instead.
"""
return self._getvar('_tvp')

@tvp.setter
def tvp(self, val):
raise Exception('Cannot set model variables direcly. Use set_variable instead.')
raise Exception('Cannot set model variables directly Use set_variable instead.')

@property
def y(self):
Expand All @@ -591,21 +595,21 @@ def y(self):
model.y['temperature', 0] # 0th element of variable
model.y['temperature'] # all elements of variable
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
* ``.keys()``
* ``.labels()``
:raises assertion: Cannot set model variables direcly. Use set_meas instead.
:raises assertion: Cannot set model variables directly Use set_meas instead.
"""
return self._getvar('_y')

@y.setter
def y(self, val):
raise Exception('Cannot set model variables direcly. Use set_variable instead.')
raise Exception('Cannot set model variables directly Use set_variable instead.')

@property
def aux(self):
Expand All @@ -629,21 +633,21 @@ def aux(self):
model.aux['dtemp', 0] # 0th element of variable
model.aux['dtemp'] # all elements of variable
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
* ``.keys()``
* ``.labels()``
:raises assertion: Cannot set aux direcly. Use set_expression instead.
:raises assertion: Cannot set aux directly Use set_expression instead.
"""
return self._getvar('_aux_expression')

@aux.setter
def aux(self, val):
raise Exception('Cannot set model variables direcly. Use set_variable instead.')
raise Exception('Cannot set model variables directly Use set_variable instead.')

@property
def w(self):
Expand All @@ -658,15 +662,15 @@ def w(self):
The process noise is used for the :py:class:`do_mpc.estimator.MHE` and
can be used to simulate a disturbed system in the :py:class:`do_mpc.simulator.Simulator`.
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
* ``.keys()``
* ``.labels()``
:raises assertion: Cannot set w direcly.
:raises assertion: Cannot set w directly
"""
return self._getvar('_w')

Expand All @@ -688,15 +692,15 @@ def v(self):
The measurement noise is used for the :py:class:`do_mpc.estimator.MHE` and
can be used to simulate a disturbed system in the :py:class:`do_mpc.simulator.Simulator`.
Usefull CasADi symbolic structure methods:
Useful CasADi symbolic structure methods:
* ``.shape``
* ``.keys()``
* ``.labels()``
:raises assertion: Cannot set v direcly.
:raises assertion: Cannot set v directly
"""
return self._getvar('_v')

Expand Down Expand Up @@ -967,7 +971,8 @@ def set_rhs(self, var_name, expr, process_noise=False):
else:
var = SX.sym(var_name+'_noise', expr.shape[0])

self._w.append(var)
self._w['name'].append(var_name + '_noise')
self._w['var'].append(var)
expr += var
self.rhs_list.extend([{'var_name': var_name, 'expr': expr}])

Expand Down

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