agentlib_mpc.optimization_backends.casadi_ package

Subpackages

Submodules

agentlib_mpc.optimization_backends.casadi_.admm module

class agentlib_mpc.optimization_backends.casadi_.admm.ADMMCollocation(options: CasadiDiscretizationOptions)[source]

Bases: DirectCollocation

class agentlib_mpc.optimization_backends.casadi_.admm.ADMMMultipleShooting(options: CasadiDiscretizationOptions)[source]

Bases: MultipleShooting

class agentlib_mpc.optimization_backends.casadi_.admm.CasADiADMMBackend(config: dict)[source]

Bases: CasADiBaseBackend, ADMMBackend

Class doing optimization of ADMM subproblems with CasADi.

property coupling_grid

Returns the grid on which the coupling variables are discretized.

discretization_types: dict[DiscretizationMethod, Type[DiscretizationT]] = {DiscretizationMethod.collocation: <class 'agentlib_mpc.optimization_backends.casadi_.admm.ADMMCollocation'>, DiscretizationMethod.multiple_shooting: <class 'agentlib_mpc.optimization_backends.casadi_.admm.ADMMMultipleShooting'>}
save_result_df(results: Results, now: float = 0)[source]

Save the results of solve into a dataframe at each time step.

Example results dataframe:

value_type variable … lower variable T_0 T_0_slack … T_0_slack mDot_0 time_step … 2 0.000000 298.160000 NaN … NaN NaN

101.431499 297.540944 -149.465942 … -inf 0.0 450.000000 295.779780 -147.704779 … -inf 0.0 798.568501 294.720770 -146.645769 … -inf 0.0

Parameters:

  • results –

  • now –

Returns:

system: CasadiADMMSystem
system_type

alias of CasadiADMMSystem

class agentlib_mpc.optimization_backends.casadi_.admm.CasadiADMMSystem[source]

Bases: FullSystem

exchange_diff: OptimizationParameter
exchange_multipliers: OptimizationParameter
global_couplings: OptimizationParameter
initialize(model: CasadiModel, var_ref: VariableReference)[source]
local_couplings: OptimizationVariable
local_exchange: OptimizationVariable
multipliers: OptimizationParameter
penalty_factor: OptimizationParameter

agentlib_mpc.optimization_backends.casadi_.basic module

class agentlib_mpc.optimization_backends.casadi_.basic.BaseSystem[source]

Bases: System

algebraics: OptimizationVariable
controls: OptimizationVariable
cost_function: MX
initial_state: OptimizationParameter
initialize(model: CasadiModel, var_ref: VariableReference)[source]
model_constraints: Constraint
model_parameters: OptimizationParameter
non_controlled_inputs: OptimizationParameter
ode: MX
outputs: OptimizationVariable
states: OptimizationVariable
class agentlib_mpc.optimization_backends.casadi_.basic.CasADiBaseBackend(config: dict)[source]

Bases: CasADiBackend

Class doing optimization of ADMM subproblems with CasADi.

discretization_types: dict[DiscretizationMethod, Type[DiscretizationT]] = {DiscretizationMethod.collocation: <class 'agentlib_mpc.optimization_backends.casadi_.basic.DirectCollocation'>, DiscretizationMethod.multiple_shooting: <class 'agentlib_mpc.optimization_backends.casadi_.basic.MultipleShooting'>}
system: BaseSystem
system_type

alias of BaseSystem

class agentlib_mpc.optimization_backends.casadi_.basic.CollocationMatrices(order: int, root: numpy.ndarray, B: numpy.ndarray, C: numpy.ndarray, D: numpy.ndarray)[source]

Bases: object

B: ndarray
C: ndarray
D: ndarray
order: int
root: ndarray
class agentlib_mpc.optimization_backends.casadi_.basic.DirectCollocation(options: CasadiDiscretizationOptions)[source]

Bases: Discretization

initialize(system: BaseSystem, solver_factory: SolverFactory)[source]

Initializes the trajectory optimization problem, creating all symbolic variables of the OCP, the mapping function and the numerical solver.

class agentlib_mpc.optimization_backends.casadi_.basic.MultipleShooting(options: CasadiDiscretizationOptions)[source]

Bases: Discretization

initialize(system: BaseSystem, solver_factory: SolverFactory)[source]

Initializes the trajectory optimization problem, creating all symbolic variables of the OCP, the mapping function and the numerical solver.

agentlib_mpc.optimization_backends.casadi_.casadi_admm_nn module

agentlib_mpc.optimization_backends.casadi_.casadi_nn module

agentlib_mpc.optimization_backends.casadi_.full module

class agentlib_mpc.optimization_backends.casadi_.full.CasADiFullBackend(config: dict)[source]

Bases: CasADiBackend

Class doing optimization of ADMM subproblems with CasADi.

discretization_types: dict[DiscretizationMethod, Type[DiscretizationT]] = {DiscretizationMethod.collocation: <class 'agentlib_mpc.optimization_backends.casadi_.full.DirectCollocation'>, DiscretizationMethod.multiple_shooting: <class 'agentlib_mpc.optimization_backends.casadi_.full.MultipleShooting'>}
system: FullSystem
system_type

alias of FullSystem

class agentlib_mpc.optimization_backends.casadi_.full.DirectCollocation(options: CasadiDiscretizationOptions)[source]

Bases: DirectCollocation

class agentlib_mpc.optimization_backends.casadi_.full.FullSystem[source]

Bases: BaseSystem

initialize(model: CasadiModel, var_ref: FullVariableReference)[source]
last_control: OptimizationParameter
r_del_u: OptimizationParameter
class agentlib_mpc.optimization_backends.casadi_.full.MultipleShooting(options: CasadiDiscretizationOptions)[source]

Bases: MultipleShooting

agentlib_mpc.optimization_backends.casadi_.minlp module

class agentlib_mpc.optimization_backends.casadi_.minlp.CasADiMINLPBackend(config: dict)[source]

Bases: CasADiBackend

Class doing optimization of ADMM subproblems with CasADi.

discretization_types: dict[DiscretizationMethod, Type[DiscretizationT]] = {DiscretizationMethod.collocation: <class 'agentlib_mpc.optimization_backends.casadi_.minlp.DirectCollocation'>}
system: CasadiMINLPSystem
system_type

alias of CasadiMINLPSystem

class agentlib_mpc.optimization_backends.casadi_.minlp.CasadiMINLPSystem[source]

Bases: BaseSystem

binary_controls: OptimizationVariable
initialize(model: CasadiModel, var_ref: MINLPVariableReference)[source]
class agentlib_mpc.optimization_backends.casadi_.minlp.DirectCollocation(options: CasadiDiscretizationOptions)[source]

Bases: DirectCollocation

Module contents