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Commit 136fa9f0 authored by elokdae's avatar elokdae
Browse files

Commit after implementing and testing Gurobi sparse formulation

parent 2eacbff0
......@@ -6853,3 +6853,45 @@ Gurobi 8.1.1 (linux64) logging started Tue Jun 4 02:33:48 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 13:02:22 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 22:35:38 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 22:38:22 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 22:40:21 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 22:50:16 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:01:02 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:03:09 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:03:29 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:04:05 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:10:24 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:10:44 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:13:23 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:15:55 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:20:39 2019
Gurobi 8.1.1 (linux64) logging started Fri Jun 7 23:20:50 2019
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......@@ -274,9 +274,12 @@ vector<float> s_yaml_output_max = {4.0, 4.0, 4.0, 100, 100, 100, PI/6, PI/6, PI/
vector<float> s_yaml_input_min = {0.0, -PI, -PI, -PI};
vector<float> s_yaml_input_max = {0.6388, PI, PI, PI};
// Gurobi optimization parameters
// Optimization parameters
bool s_yaml_opt_sparse = true;
bool s_yaml_opt_verbose = false;
// Parameters specific to Gurobi
bool s_yaml_grb_LogToFile = false;
bool s_yaml_grb_LogToConsole = false;
bool s_yaml_grb_presolve_at_setup = false;
// The weight of the Crazyflie in Newtons, i.e., mg
......@@ -360,10 +363,14 @@ bool d_Deepc_yaw_control = true;
int d_Tini;
int d_N;
float d_lambda2_g;
bool d_opt_sparse = s_yaml_opt_sparse;
bool d_grb_presolve_at_setup = false;
int d_num_outputs;
int d_Nuini;
int d_Nyini;
int d_Ns;
int d_Nuf;
int d_Nyf;
int d_Ng;
MatrixXf d_U_f;
MatrixXf d_Y_f;
......@@ -374,13 +381,14 @@ MatrixXf d_r_gs;
MatrixXf d_A_gs;
MatrixXf d_b_gs;
MatrixXf d_gs;
MatrixXf d_grb_cg_r;
MatrixXf d_grb_cg_gs;
MatrixXf d_grb_c_r;
MatrixXf d_grb_c_gs;
MatrixXf d_g;
MatrixXf d_uini;
MatrixXf d_yini;
int d_DeepcOpt_status = 0;
int d_i;
int d_uf_start_i;
MatrixXf d_u_f;
// Gurobi optimization variables
GRBEnv d_grb_env;
......@@ -391,7 +399,7 @@ GRBQuadExpr d_grb_quad_obj = 0;
GRBLinExpr d_grb_lin_obj_us = 0;
GRBLinExpr d_grb_lin_obj_r = 0;
GRBLinExpr d_grb_lin_obj_gs = 0;
GRBConstr* d_grb_eq_constrs = 0;
GRBConstr* d_grb_ini_constrs = 0;
// Deepc related global variables used by main thread only
// Declared as global for speed
......
......@@ -80,29 +80,29 @@ exc_start_time : 0.0
# EVERYTHING DEEPC
# Flag that indicates whether to use roll and pitch angle measurements in Deepc
Deepc_measure_roll_pitch : true
Deepc_measure_roll_pitch : false
# Flag that activates yaw control through Deepc
Deepc_yaw_control : false
# Tini in discrete time steps
Tini : 4
Tini : 6
# Prediction horizon in discrete time steps
N : 15
N : 25
# Output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
Q : [40.0, 40.0, 40.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
Q : [40.0, 40.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
# Input cost matrix diagonal entries (thrust, rollRate, pitchRate, yawRate)
R : [16.0, 16.0, 16.0, 1.0]
R : [4.0, 4.0, 4.0, 1.0]
# Terminal output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
P : [657.21, 657.21, 657.21, 96.92, 96.92, 0.47, 629.60, 629.60, 84.21]
# Regularization parameters
lambda2_g : 20.0
lambda2_s : 1000000.0
lambda2_g : 0.001
lambda2_s : 100000000.0
# Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
output_min : [-4.0, -4.0, -4.0, -100, -100, -100, -0.5236, -0.5236, -0.5236]
......@@ -112,7 +112,10 @@ output_max : [4.0, 4.0, 4.0, 100, 100, 100, 0.5236, 0.5236, 0.5236]
input_min : [0.0, -1.5708, -1.5708, -1.5708]
input_max : [0.4791, 1.5708, 1.5708, 1.5708]
# Gurobi optimization parameters
# Optimization parameters
opt_sparse : true
opt_verbose : false
# Parameters specific to Gurobi
grb_LogToFile : false
grb_LogToConsole : false
grb_presolve_at_setup : false
\ No newline at end of file
grb_presolve_at_setup : true
\ No newline at end of file
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