Batch integrator and OCP solver for parallel solves #1087
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FreyJo
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Apr 30, 2024
Apparently, shared libraries with and without openmp cannot easily be combined. If the acados batch solvers introduced in #1087 should be used, it is thus recommended to compile the acados shared library with openmp and set the number of threads to 1. This problem seems to be related to: * JuliaLang/julia#10938 * casadi/casadi#2447 This PR implements corresponding warnings in `AcadosOcpBatchSolver` and `AcadosSimBatchSolver` and removes the examples from the tests (as we do not want to compile acados with openmp for all tests).
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This PR implements a parallelizable batch solve for integrators and OCP solvers. The batch solve is interfaced from python with
AcadosOcpBatchSolverandAcadosSimBatchSolver. These classes holdN_batchidentical solvers and provide a parallelizable solve function. All other operations have to be called individually for each of the solvers via their standard interface.Parallelization via openmp can be switched on by setting
num_threads_in_batch_solvewhich has been added to the solver options.