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Python x0 shape check #950

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Merged
merged 1 commit into from
Jul 28, 2023
Merged

Python x0 shape check #950

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7 changes: 6 additions & 1 deletion interfaces/acados_template/acados_template/acados_ocp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -983,6 +983,7 @@ def __init__(self):
self.__ubx_0 = np.array([])
self.__idxbx_0 = np.array([])
self.__idxbxe_0 = np.array([])
self.__has_x0 = False
# state bounds
self.__lbx = np.array([])
self.__ubx = np.array([])
Expand Down Expand Up @@ -1579,6 +1580,10 @@ def x0(self):
print("idxbxe_0: ", self.__idxbxe_0)
return None

@property
def has_x0(self):
return self.__has_x0

# SETTERS
@constr_type.setter
def constr_type(self, constr_type):
Expand Down Expand Up @@ -1634,14 +1639,14 @@ def idxbxe_0(self, idxbxe_0):
else:
raise Exception('Invalid idxbxe_0 value.')


@x0.setter
def x0(self, x0):
if isinstance(x0, np.ndarray):
self.__lbx_0 = x0
self.__ubx_0 = x0
self.__idxbx_0 = np.arange(x0.size)
self.__idxbxe_0 = np.arange(x0.size)
self.__has_x0 = True
else:
raise Exception('Invalid x0 value.')

Expand Down
2 changes: 2 additions & 0 deletions interfaces/acados_template/acados_template/acados_ocp_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -275,6 +275,8 @@ def make_ocp_dims_consistent(acados_ocp: AcadosOcp):
raise Exception('lbx_0, ubx_0 must be column vectors!')
dims.nbx_0 = constraints.lbx_0.size

if constraints.has_x0 and dims.nbx_0 != dims.nx:
raise Exception(f"x0 should have shape nx = {dims.nx}.")
if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
and dims.nbxe_0 is None \
and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\
Expand Down