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Commit 2eacbff0 authored by elokdae's avatar elokdae
Browse files

Implemented Gurobi presolve at setup feature

parent d14c8ac7
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......@@ -6634,3 +6634,222 @@ Gurobi 8.1.1 (linux64) logging started Mon Jun 3 01:11:08 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 01:14:04 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 01:29:42 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 01:39:14 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 01:44:43 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 01:48:31 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 01:56:29 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 02:05:29 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 02:11:38 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 02:20:50 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 02:23:43 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 02:42:45 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 02:46:05 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 02:56:26 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 03:17:16 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 03:20:23 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 03:25:03 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 03:27:16 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 03:28:59 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 03:32:00 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 04:39:12 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 04:41:49 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 04:42:57 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 04:54:59 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 04:57:26 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:01:13 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:03:37 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:06:05 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:20:48 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:25:45 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:26:00 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:28:15 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:30:57 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:38:00 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:40:44 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:49:33 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:55:57 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 05:57:17 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 06:00:48 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:17:03 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:20:01 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:22:35 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:23:35 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:26:31 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:42:28 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:43:42 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 18:47:09 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 19:58:14 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:00:34 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:04:08 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:23:49 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:28:38 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:33:54 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:45:08 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:49:54 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:53:15 2019
Gurobi 8.1.1 (linux64) logging started Mon Jun 3 20:55:08 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 00:43:18 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:14:03 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:14:51 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:15:25 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:15:52 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:16:14 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:18:35 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:19:31 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:19:45 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:20:53 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:29:50 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:31:08 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 01:31:13 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 02:05:17 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 02:14:44 2019
Gurobi 8.1.1 (linux64) logging started Tue Jun 4 02:32:29 2019
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
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......@@ -277,6 +277,7 @@ vector<float> s_yaml_input_max = {0.6388, PI, PI, PI};
// Gurobi optimization parameters
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
float m_cf_weight_in_newtons = 0.0;
......@@ -343,7 +344,6 @@ MatrixXf s_uini;
MatrixXf s_yini;
MatrixXf s_u_f;
bool s_setupDeepc_success = false;
int s_DeepcOpt_status = 0;
// Variables for thread management
mutex s_Deepc_mutex;
// Flags for communication with Deepc thread
......@@ -360,6 +360,7 @@ bool d_Deepc_yaw_control = true;
int d_Tini;
int d_N;
float d_lambda2_g;
bool d_grb_presolve_at_setup = false;
int d_num_outputs;
int d_Nuini;
int d_Nyini;
......
......@@ -21,7 +21,7 @@ landing_spin_motors_time: 0
# PARAMTERS THAT ARE STANDARD FOR A "CONTROLLER SERVICE"
# Mass of the crazyflie, in grams
mass : 29
mass : 28
# Frequency of the controller, in hertz
control_frequency : 25.0
......@@ -86,22 +86,22 @@ Deepc_measure_roll_pitch : true
Deepc_yaw_control : false
# Tini in discrete time steps
Tini : 6
Tini : 4
# Prediction horizon in discrete time steps
N : 25
N : 15
# Output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
Q : [40.0, 40.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
Q : [40.0, 40.0, 40.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
# Input cost matrix diagonal entries (thrust, rollRate, pitchRate, yawRate)
R : [4.0, 1.0, 1.0, 1.0]
R : [16.0, 16.0, 16.0, 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, 8.88, 96.92, 96.92, 0.47, 629.60, 629.60, 84.21]
P : [657.21, 657.21, 657.21, 96.92, 96.92, 0.47, 629.60, 629.60, 84.21]
# Regularization parameters
lambda2_g : 0.001
lambda2_g : 20.0
lambda2_s : 1000000.0
# Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
......@@ -109,9 +109,10 @@ output_min : [-4.0, -4.0, -4.0, -100, -100, -100, -0.5236, -0.5236, -0.5236]
output_max : [4.0, 4.0, 4.0, 100, 100, 100, 0.5236, 0.5236, 0.5236]
# Input constraints (thurst, rollRate, pitchRate, yawRate)
input_min : [0.0, -3.1416, -3.1416, -3.1416]
input_max : [0.6388, 3.1416, 3.1416, 3.1416]
input_min : [0.0, -1.5708, -1.5708, -1.5708]
input_max : [0.4791, 1.5708, 1.5708, 1.5708]
# Gurobi optimization parameters
grb_LogToFile : false
grb_LogToConsole : true
\ No newline at end of file
grb_LogToConsole : false
grb_presolve_at_setup : false
\ No newline at end of file
......@@ -140,6 +140,7 @@ void change_Deepc_params()
d_lambda2_g = s_yaml_lambda2_g;
bool grb_LogToFile = s_yaml_grb_LogToFile;
bool grb_LogToConsole = s_yaml_grb_LogToConsole;
d_grb_presolve_at_setup = s_yaml_grb_presolve_at_setup;
// Deepc setup must be re-run after changes
s_setupDeepc_success = false;
s_Deepc_mutex.unlock();
......@@ -208,7 +209,7 @@ void change_Deepc_setpoint()
d_r_gs = d_r.replicate(d_Tini + d_N + 1, 1);
d_b_gs.bottomRows(d_r_gs.rows()) = d_r_gs;
d_gs = d_A_gs.bdcSvd(ComputeThinU | ComputeThinV).solve(d_b_gs);
d_grb_cg_gs = -2.0 * d_lambda2_g * MatrixXf::Identity(d_Ng, d_Ng) * d_gs;
d_grb_cg_gs = -2.0 * d_lambda2_g * d_gs;
// Update linear objective terms
......@@ -419,7 +420,7 @@ void setup_Deepc()
else
d_grb_cg_r -= 2.0 * d_Y_f.middleRows(i * d_num_outputs, d_num_outputs).transpose() * d_P * d_r;
}
d_grb_cg_gs = -2.0 * d_lambda2_g * MatrixXf::Identity(d_Ng, d_Ng) * d_gs;
d_grb_cg_gs = -2.0 * d_lambda2_g * d_gs;
//INPUT CONSTRAINTS
MatrixXf input_min = MatrixXf::Zero(num_inputs, 1);
......@@ -495,13 +496,11 @@ void setup_Deepc()
// Clear variables if previously created
int num_vars = d_grb_model.get(GRB_IntAttr_NumVars);
if (num_vars > 0)
{
for (int i = 0; i < num_vars; i++)
d_grb_model.remove(d_grb_vars[i]);
d_grb_model.update();
delete[] d_grb_vars;
}
d_grb_vars = d_grb_model.getVars();
for (int i = 0; i < num_vars; i++)
d_grb_model.remove(d_grb_vars[i]);
d_grb_model.update();
delete[] d_grb_vars;
// Create variables
double grb_lb[d_Ng + Ns];
......@@ -535,15 +534,12 @@ void setup_Deepc()
// Clear constraints if previously created
int num_constrs = d_grb_model.get(GRB_IntAttr_NumConstrs);
if (num_constrs > 0)
{
GRBConstr* grb_constrs = d_grb_model.getConstrs();
for (int i = 0; i < num_constrs; i++)
d_grb_model.remove(grb_constrs[i]);
d_grb_model.update();
delete[] grb_constrs;
delete[] d_grb_eq_constrs;
}
GRBConstr* grb_constrs = d_grb_model.getConstrs();
for (int i = 0; i < num_constrs; i++)
d_grb_model.remove(grb_constrs[i]);
d_grb_model.update();
delete[] grb_constrs;
delete[] d_grb_eq_constrs;
// Add inequality constraints
for (int i = 0; i < grb_Ag.rows(); i++)
......@@ -555,8 +551,9 @@ void setup_Deepc()
}
// Add equality constraints and store in memory for quick change
d_grb_eq_constrs = new GRBConstr[grb_A_eq.rows()];
for (int i = 0; i < grb_A_eq.rows(); i++)
int num_eq_constrs = grb_A_eq.rows();
d_grb_eq_constrs = new GRBConstr[num_eq_constrs];
for (int i = 0; i < num_eq_constrs; i++)
{
GRBLinExpr lhs = 0;
for (int j = 0; j < d_Ng + Ns; j++)
......@@ -565,14 +562,38 @@ void setup_Deepc()
}
// Set model parameters
d_grb_model.set(GRB_IntParam_Method, 0);
//d_grb_model.set(GRB_IntParam_Aggregate, 0);
// d_grb_model.set(GRB_IntParam_Method, 0);
if (!d_grb_presolve_at_setup)
{
d_grb_model.set(GRB_IntParam_Aggregate, 0);
}
// Pre-solve
static GRBModel grb_model_presolved = d_grb_model.presolve();
grb_model_presolved.set(GRB_IntParam_Presolve, 0);
d_grb_model_presolved = &grb_model_presolved;
if (d_grb_presolve_at_setup)
{
static GRBModel grb_model_presolved = d_grb_model.presolve();
// Update variables to presolved model variables
d_grb_vars = grb_model_presolved.getVars();
// Update equality constraints to presolved model constraints. They are last set of constraints in presolved model
num_constrs = grb_model_presolved.get(GRB_IntAttr_NumConstrs);
GRBConstr* grb_constrs_presolved = grb_model_presolved.getConstrs();
int j = 0;
for (int i = num_constrs - num_eq_constrs; i < num_constrs; i++)
{
d_grb_eq_constrs[j] = grb_constrs_presolved[i];
j++;
}
delete[] grb_constrs_presolved;
// Set Presolve parameter of presolved model to 0 to avoid re-presolving
grb_model_presolved.set(GRB_IntParam_Presolve, 0);
// Global variable is pointer to model
d_grb_model_presolved = &grb_model_presolved;
}
// Setup output variables
d_g = MatrixXf::Zero(d_Ng, 1);
......@@ -647,11 +668,16 @@ void solve_Deepc()
d_grb_eq_constrs[d_Nuini + d_i].set(GRB_DoubleAttr_RHS, d_yini(d_i));
// Solve optimization
ROS_INFO("[DEEPC CONTROLLER] DEBUG 1");
d_grb_model_presolved->optimize();
ROS_INFO("[DEEPC CONTROLLER] DEBUG 2");
d_DeepcOpt_status = d_grb_model_presolved->get(GRB_IntAttr_Status);
ROS_INFO("[DEEPC CONTROLLER] DEBUG 3");
if (!d_grb_presolve_at_setup)
{
d_grb_model.optimize();
d_DeepcOpt_status = d_grb_model.get(GRB_IntAttr_Status);
}
else
{
d_grb_model_presolved->optimize();
d_DeepcOpt_status = d_grb_model_presolved->get(GRB_IntAttr_Status);
}
if (d_DeepcOpt_status == GRB_OPTIMAL)
......@@ -663,7 +689,6 @@ void solve_Deepc()
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 649");
s_DeepcOpt_status = d_DeepcOpt_status;
s_u_f = d_u_f;
s_Deepc_mutex.unlock();
//ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 649");
......@@ -674,17 +699,20 @@ void solve_Deepc()
ROS_INFO_STREAM("Pitch Rate: " << d_u_f(2));
if (d_Deepc_yaw_control)
ROS_INFO_STREAM("Yaw Rate: " << d_u_f(3));
ROS_INFO_STREAM("Objective: " << d_grb_model_presolved->get(GRB_DoubleAttr_ObjVal));
ROS_INFO_STREAM("Runtime: " << d_grb_model_presolved->get(GRB_DoubleAttr_Runtime));
if (!d_grb_presolve_at_setup)
{
ROS_INFO_STREAM("Objective: " << d_grb_model.get(GRB_DoubleAttr_ObjVal));
ROS_INFO_STREAM("Runtime: " << d_grb_model.get(GRB_DoubleAttr_Runtime));
}
else
{
ROS_INFO_STREAM("Objective: " << d_grb_model_presolved->get(GRB_DoubleAttr_ObjVal));
ROS_INFO_STREAM("Runtime: " << d_grb_model_presolved->get(GRB_DoubleAttr_Runtime));
}
}
else
{
s_Deepc_mutex.lock();
//ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 667");
s_DeepcOpt_status = d_DeepcOpt_status;
s_Deepc_mutex.unlock();
//ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 667");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Deepc failed to find optimal solution with status code = " << d_DeepcOpt_status);
}
}
......@@ -692,7 +720,6 @@ void solve_Deepc()
{
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 678");
s_DeepcOpt_status = 0;
s_setupDeepc_success = false;
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 678");
......@@ -705,7 +732,6 @@ void solve_Deepc()
{
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 691");
s_DeepcOpt_status = 0;
s_setupDeepc_success = false;
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 691");
......@@ -717,7 +743,6 @@ void solve_Deepc()
{
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 703");
s_DeepcOpt_status = 0;
s_setupDeepc_success = false;
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 703");
......@@ -1578,10 +1603,10 @@ void computeResponse_for_Deepc(Controller::Request &request, Controller::Respons
s_solveDeepc = true;
s_Deepc_mutex.unlock();
//ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 1520");
}
if (Deepc_first_pass)
if (Deepc_first_pass)
m_Deepc_solving_first_opt = true;
}
}
void computeResponse_for_landing_move_down(Controller::Request &request, Controller::Response &response)
......@@ -2430,6 +2455,7 @@ void fetchDeepcControllerYamlParameters(ros::NodeHandle& nodeHandle)
// Gurobi optimization parameters
s_yaml_grb_LogToFile = getParameterBool(nodeHandle_for_paramaters, "grb_LogToFile");
s_yaml_grb_LogToConsole = getParameterBool(nodeHandle_for_paramaters, "grb_LogToConsole");
s_yaml_grb_presolve_at_setup = getParameterBool(nodeHandle_for_paramaters, "grb_presolve_at_setup");
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 2352");
......
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