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Add soft constraints to OSQP interface #1120

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Merged
merged 5 commits into from
May 22, 2024
Merged

Add soft constraints to OSQP interface #1120

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8259a66
update hpipm
giaf May 7, 2024
faa53d0
fix soft constraints mass spring qp example c
giaf May 7, 2024
4fb1ff3
add soft constraints to osqp interface
giaf May 21, 2024
e92fbcf
Merge branch 'master' of https://github.com/acados/acados
giaf May 21, 2024
7a26663
remove some unused variables
giaf May 21, 2024
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37 changes: 22 additions & 15 deletions acados/ocp_qp/ocp_qp_common.c
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Original file line number Diff line number Diff line change
Expand Up @@ -634,6 +634,7 @@ void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out)
int *nu = qp_in->dim->nu;
int *nb = qp_in->dim->nb;
int *ng = qp_in->dim->ng;
int *ns = qp_in->dim->ns;

struct blasfeo_dmat *DCt = qp_in->DCt;
struct blasfeo_dvec *d = qp_in->d;
Expand All @@ -642,25 +643,31 @@ void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out)
struct blasfeo_dvec *ux = qp_out->ux;
struct blasfeo_dvec *t = qp_out->t;

int nx_i, nu_i, nb_i, ng_i;

for (ii = 0; ii <= N; ii++)
{
nx_i = nx[ii];
nu_i = nu[ii];
nb_i = nb[ii];
ng_i = ng[ii];

// compute slacks for bounds
blasfeo_dvecex_sp(nb_i, 1.0, idxb[ii], ux + ii, 0, t+ii, nb_i + ng_i);
blasfeo_daxpby(nb_i, 1.0, t + ii, nb_i + ng_i, -1.0, d + ii, 0, t + ii, 0);
blasfeo_daxpby(nb_i, -1.0, t + ii, nb_i + ng_i, -1.0, d + ii, nb_i + ng_i, t + ii,
nb_i + ng_i);
blasfeo_dvecex_sp(nb[ii], 1.0, idxb[ii], ux + ii, 0, t+ii, nb[ii] + ng[ii]);
blasfeo_daxpby(nb[ii], 1.0, t + ii, nb[ii] + ng[ii], -1.0, d + ii, 0, t + ii, 0);
blasfeo_daxpby(nb[ii], -1.0, t + ii, nb[ii] + ng[ii], -1.0, d + ii, nb[ii] + ng[ii], t + ii,
nb[ii] + ng[ii]);

// compute slacks for general constraints
blasfeo_dgemv_t(nu_i + nx_i, ng_i, 1.0, DCt + ii, 0, 0, ux + ii, 0, -1.0, d + ii, nb_i,
t + ii, nb_i);
blasfeo_dgemv_t(nu_i + nx_i, ng_i, -1.0, DCt + ii, 0, 0, ux + ii, 0, -1.0, d + ii,
2 * nb_i + ng_i, t + ii, 2 * nb_i + ng_i);
blasfeo_dgemv_t(nu[ii] + nx[ii], ng[ii], 1.0, DCt + ii, 0, 0, ux + ii, 0, -1.0, d + ii, nb[ii],
t + ii, nb[ii]);
blasfeo_dgemv_t(nu[ii] + nx[ii], ng[ii], -1.0, DCt + ii, 0, 0, ux + ii, 0, -1.0, d + ii,
2 * nb[ii] + ng[ii], t + ii, 2 * nb[ii] + ng[ii]);

// compute slacks for soft constraints
for(int jj=0; jj<nb[ii]+ng[ii]; jj++)
{
int idx = qp_in->idxs_rev[ii][jj];
if(idx!=-1)
{
BLASFEO_DVECEL(t+ii, jj) += BLASFEO_DVECEL(ux+ii, nu[ii]+nx[ii]+idx);
BLASFEO_DVECEL(t+ii, nb[ii]+ng[ii]+jj) += BLASFEO_DVECEL(ux+ii, nu[ii]+nx[ii]+ns[ii]+idx);
}
}

blasfeo_dveccp(2*ns[ii], qp_out->ux+ii, nu[ii]+nx[ii], qp_out->t+ii, 2*nb[ii]+2*ng[ii]);
}
}
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