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Merge pull request #3 from tud-amr/fix-acados
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Fix updated cpp interface acados. closes #2
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@oscardegroot
oscardegroot authored Nov 22, 2024
2 parents 5f40374 + d9bc195 commit 19bbeb6
Showing 1 changed file with 5 additions and 5 deletions.
10 changes: 5 additions & 5 deletions mpc_planner_solver/src/acados_solver_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,21 +114,21 @@ namespace MPCPlanner

status = Solver_acados_solve(_acados_ocp_capsule);

ocp_nlp_get(_nlp_config, _nlp_solver, "time_tot", &_info.elapsed_time);
ocp_nlp_get(_nlp_solver, "time_tot", &_info.elapsed_time);
_info.solvetime += _info.elapsed_time;
_info.min_time = MIN(_info.elapsed_time, _info.min_time);

ocp_nlp_get(_nlp_config, _nlp_solver, "qp_status", &_info.qp_status);
ocp_nlp_get(_nlp_solver, "qp_status", &_info.qp_status);

if (status != ACADOS_SUCCESS && _info.qp_status != 0)
break;
}

ocp_nlp_get(_nlp_config, _nlp_solver, "nlp_res", &_info.nlp_res);
ocp_nlp_get(_nlp_solver, "nlp_res", &_info.nlp_res);

// Compute and retrieve the cost
ocp_nlp_eval_cost(_nlp_solver, _nlp_in, _nlp_out);
ocp_nlp_get(_nlp_config, _nlp_solver, "cost_value", &_info.pobj);
ocp_nlp_get(_nlp_solver, "cost_value", &_info.pobj);

// Get output
for (int k = 0; k <= _nlp_dims->N; k++)
Expand All @@ -152,7 +152,7 @@ namespace MPCPlanner

// Get INFO
ocp_nlp_out_get(_nlp_config, _nlp_dims, _nlp_out, 0, "kkt_norm_inf", &_info.kkt_norm_inf);
ocp_nlp_get(_nlp_config, _nlp_solver, "sqp_iter", &_info.sqp_iter);
ocp_nlp_get(_nlp_solver, "sqp_iter", &_info.sqp_iter);

// _info.print(_acados_ocp_capsule);

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solver_generator

Solver Generation
FileStmtsMissCoverMissing
solver_generator
   control_modules.py651084%18, 21, 24, 27–30, 49, 113, 116
   generate_acados_solver.py1192578%23, 44–45, 117–118, 120–123, 125–126, 129–132, 134–138, 185–187, 196, 204
   generate_cpp_files.py3622593%22, 73–75, 82–84, 91, 119, 194, 229–231, 458–469
   generate_solver.py44588%17, 20, 25, 27, 65
   solver_definition.py500100% 
   solver_model.py25414642%12, 24–25, 27–28, 30, 65–68, 70–71, 73–74, 77, 83, 103, 115–116, 131, 134, 147–149, 167, 173–175, 177–178, 180–181, 185–188, 190, 220–223, 225–226, 228, 230–231, 235–238, 240, 244, 246–248, 251–254, 257, 259–261, 263–264, 266–267, 269, 271, 277–279, 281–282, 284–285, 289–292, 294, 298, 305–307, 309–310, 319–320, 323–327, 329–334, 344–347, 349, 351, 358–360, 362–363, 365, 375–376, 379–383, 385, 388–390, 392, 394, 396, 400, 402–406, 411–414, 417, 419–421, 423–424, 426–427, 429, 437
   spline.py601181%25–26, 53–56, 70, 80, 84–85, 87
solver_generator/test
   test_acados.py520100% 
   test_base_classes.py65296%38–39
   test_control_modules.py950100% 
solver_generator/util
   code_generation.py271833%2–4, 6, 18–19, 22–26, 28, 30–31, 34, 38, 43, 52
   files.py67395%56, 84, 88
   logging.py42978%33, 45–46, 49, 52, 55–58
   math.py60100% 
   parameters.py73395%44, 77, 81
TOTAL138125781% 

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