Removed locFunsCas dependency from files that do not need to know abo…

…ut casadi #84 - tested against morenet example
alexe15 · Mar 31, 2020 · baa5bd3 · baa5bd3
1 parent ff08cca
commit baa5bd3
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Showing 4 changed files with 25 additions and 14 deletions.
diff --git a/examples/example_main.m b/examples/example_main.m
@@ -6,6 +6,7 @@
 % addpath(genpath('../tools/'))
 % import casadi.*
 
+addpath(genpath('../../numerical-differentiation'))
 global use_fmincon
 use_fmincon = false;    
 

diff --git a/src/core/createLocalSolvers.m b/src/core/createLocalSolvers.m
@@ -10,10 +10,13 @@
     error('currently not supported.');
 end
 
+funs = sProb.locFuns;
+z0 = sProb.zz0;
+
 for i=1:NsubSys     
     nnxi{i} = size(sProb.AA{i},2);
-    nngi{i} = size(sProb.locFunsCas.ggi{i},1);
-    nnhi{i} = size(sProb.locFunsCas.hhi{i},1);    
+    nngi{i} = size(funs.ggi{i}(z0{i}), 1);
+    nnhi{i} = size(funs.hhi{i}(z0{i}), 1);    
 
     % set up bounds for equalities/inequalities
     gBounds.llb{i}  = [zeros(nngi{i},1); -inf*ones(nnhi{i},1)];
@@ -26,6 +29,7 @@
         funs = sProb.locFuns;
         solve_nlp = @(x, z, rho, lambda, Sigma, pars)build_local_NLP(funs.ffi{i}, funs.ggi{i}, funs.hhi{i}, sProb.AA{i}, lambda, rho, z, Sigma, x, sProb.llbx{i}, sProb.uubx{i});   
     else
+        assert(isfield(sProb, 'locFunsCas'), 'locFunsCas field is missing')
         nlp_reference = build_nlp_reference(sProb.xxCas{i},...
                                             sProb.locFunsCas.ffi{i},...
                                             sProb.locFunsCas.ggi{i},...
@@ -59,14 +63,14 @@
 end
 
 function res = build_nlp_with_casadi(x, z, rho, lambda, Sigma, pars, nlp, lbx, ubx, lbg, ubg)
-    sol  = nlp('x0',x,...
-                            'lam_g0', pars.lam_g0,...
-                            'lam_x0', pars.lam_x0,...
-                            'p',      [rho; lambda; z; Sigma(:)],...
-                            'lbx',    lbx,...
-                            'ubx',    ubx,...
-                            'lbg',    lbg, ...
-                            'ubg',    ubg); 
+    sol  = nlp( 'x0', x,...
+                'lam_g0', pars.lam_g0,...
+                'lam_x0', pars.lam_x0,...
+                'p',      [rho; lambda; z; Sigma(:)],...
+                'lbx',    lbx,...
+                'ubx',    ubx,...
+                'lbg',    lbg, ...
+                'ubg',    ubg); 
     res.x = sol.x;
     res.lam_g = sol.lam_g;
     res.lam_x = sol.lam_x;

diff --git a/src/core/createSens.m b/src/core/createSens.m
@@ -2,9 +2,12 @@
 import casadi.*
 NsubSys = length(sProb.AA);
 
+funs = sProb.locFuns;
+z0 = sProb.zz0;
+
 for i=1:NsubSys
-    nngi{i}  = size(sProb.locFunsCas.ggi{i},1);
-    nnhi{i}  = size(sProb.locFunsCas.hhi{i},1);    
+    nngi{i} = size(funs.ggi{i}(z0{i}), 1);
+    nnhi{i} = size(funs.hhi{i}(z0{i}), 1);   
 
     % Lagrange multipliers for nonlinear constraints
     kkappCas = opts.sym('kapp',nngi{i}+nnhi{i},1);

diff --git a/src/core/initializeVariables.m b/src/core/initializeVariables.m
@@ -12,9 +12,12 @@
 iter.lam             = sProb.lam0;
 iter.delxs           = inf;
 
+funs = sProb.locFuns;
+z0 = sProb.zz0;
+
 for j=1:NsubSys
-   nngi{j} = size(sProb.locFunsCas.ggi{j},1);
-   nnhi{j} = size(sProb.locFunsCas.hhi{j},1);  
+   nngi{j} = size(funs.ggi{j}(z0{j}), 1);
+   nnhi{j} = size(funs.hhi{j}(z0{j}), 1);   
 
    iter.KKapp{j} = zeros(nngi{j}+nnhi{j},1);
    iter.LLam_x{j}= zeros(length(iter.loc.xx{j}),1);