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Allow to set cost scaling from Python #1058

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merged 2 commits into from
Mar 26, 2024
Merged

Allow to set cost scaling from Python #1058

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2becba2
allow to set cost scaling from python
FreyJo Mar 26, 2024
a0a78c9
test setter
FreyJo Mar 26, 2024
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5 changes: 5 additions & 0 deletions examples/acados_python/pendulum_on_cart/ocp/ocp_example_cost_formulations.py
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Original file line number Diff line number Diff line change
Expand Up @@ -255,6 +255,11 @@ def main(cost_version: str, formulation_type='ocp', integrator_type='IRK', plot=
ocp_solver.cost_set(i, "ext_cost_num_hess", np.diag([0.02, 2000, 2000, 0.02, 0.02, ]))
ocp_solver.cost_set(N, "ext_cost_num_hess", np.diag([2000, 2000, 0.02, 0.02, ]))

# test set cost scaling
if formulation_type == 'ocp':
for i in range(N):
ocp_solver.cost_set(i, "scaling", ocp.solver_options.time_steps[i])

simX = np.zeros((N+1, NX))
simU = np.zeros((N, NU))

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4 changes: 4 additions & 0 deletions interfaces/acados_c/ocp_nlp_interface.c
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Expand Up @@ -913,6 +913,10 @@ void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims,
dims_out[0] = dims->nx[stage] + dims->nu[stage];
dims_out[1] = dims->nx[stage] + dims->nu[stage];
}
else if (!strcmp(field, "scaling"))
{
dims_out[0] = 1;
}
else
{
printf("\nerror: ocp_nlp_cost_dims_get_from_attr: field %s not available\n", field);
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5 changes: 4 additions & 1 deletion interfaces/acados_template/acados_template/acados_ocp_solver.py
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Expand Up @@ -1269,8 +1269,11 @@ def cost_set(self, stage_: int, field_: str, value_, api='warn'):
Set numerical data in the cost module of the solver.

:param stage: integer corresponding to shooting node
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu'
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu', 'scaling'
:param value: of appropriate size

Note: by default the cost is scaled with the time step, and the terminal cost term scaled with 1.
This can be overwritten by setting the 'scaling' field.
"""
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
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2 changes: 1 addition & 1 deletion interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx
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Expand Up @@ -592,7 +592,7 @@ cdef class AcadosOcpSolverCython:
Set numerical data in the cost module of the solver.

:param stage: integer corresponding to shooting node
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'scaling'
:param value: of appropriate size
"""
if not isinstance(value_, np.ndarray):
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