| 120 | |
| 121 | |
| 122 | def test_serial_mpc(mpc_problem): |
| 123 | problem = mpc_problem |
| 124 | |
| 125 | TOL = 1e-5 |
| 126 | mu_init = 1e-8 |
| 127 | verbose = aligator.VerboseLevel.QUIET |
| 128 | solver = aligator.SolverProxDDP(TOL, mu_init, verbose=verbose) |
| 129 | solver.rollout_type = aligator.ROLLOUT_LINEAR |
| 130 | solver.max_iters = 100 |
| 131 | solver.sa_strategy = aligator.SA_FILTER |
| 132 | solver.force_initial_condition = True |
| 133 | solver.linear_solver_choice = aligator.LQ_SOLVER_SERIAL |
| 134 | solver.filter.beta = 1e-5 |
| 135 | solver.setup(problem) |
| 136 | |
| 137 | solver.run(problem, [], []) |
| 138 | |
| 139 | xs = solver.results.xs.tolist().copy() |
| 140 | us = solver.results.us.tolist().copy() |
| 141 | |
| 142 | # Launch MPC |
| 143 | for t in range(NUM_MPC_CYCLES): |
| 144 | print("Time " + str(t)) |
| 145 | |
| 146 | xs = xs[1:] + [xs[-1]] |
| 147 | us = us[1:] + [us[-1]] |
| 148 | |
| 149 | problem.x0_init = xs[0] |
| 150 | solver.setup(problem) |
| 151 | solver.run(problem, xs, us) |
| 152 | |
| 153 | xs = solver.results.xs.tolist().copy() |
| 154 | us = solver.results.us.tolist().copy() |
| 155 | |
| 156 | |
| 157 | if __name__ == "__main__": |