I'd like to make a path planning with your lib. However, in your examples, it only has a constant output reference. However in my case, each step should has differenct values for output. Could you please help me to figure out how to do it?

Hi @nicolapiccinelli I think this might be more of a question than an issue... (Unfortunately, I am no cpp guru) I've been having trouble instantiating multiple LMPC objects for problems of different dimensions, when I run the lines below the LMPC template captures the problem dimensions of the last statement only. For example when I try to set the matrices for latController, I get Eigen resize errors on setStateSpaceModel because the controller instance thinks that the dimensions of the problem are those of yawController instead of latController. Is there a way to instantiate multiple dynamically allocated problems like I'm trying to do? I tried the static allocation but my matrices are too big.

// MPC LATERAL CONTROLLER
mpc::LMPC<8, 2, 2, 5, 50, 3> latController;
auto latCtrlInput = latController.getLastResult();

// MPC LONGITUDINAL CONTROLLER
mpc::LMPC<8, 2, 2, 5, 50, 3> longController;
auto longCtrlInput = longController.getLastResult();

// MPC VERTICAL CONTROLLER
mpc::LMPC<4, 1, 1, 3, 50, 3> vertController;
auto vertCtrlInput = vertController.getLastResult();

// MPC YAW CONTROLLER
mpc::LMPC<4, 1, 1, 2, 50, 3> yawController;
auto yawCtrlInput = yawController.getLastResult();

I am trying to implement a controller that needs to run at 100Hz but after a lot of tuning I can only get solutions in ~55ms. There is this version of OSQP that is CUDA accelerated (cuOSQP) and apparently it can speed up execution by up to two orders of magnitude for some problems.

I thought this looked pretty promising so I tried to quickly glue it into your library by replacing the OSQPData struct with a custom struct that is compatible with what libmpc and cuOSQP expect. cuOSQP expects the data struct in the picture below which is internally generated from the csc* and c_float* that are in use on the normal OSQP.

So I just added the struct below to LOptimizer.hpp and replaced data with this new type.

I think that should make all of libmpc keep its current behaviour and the code actually compiles and runs but the solver always returns NaN for some reason and the objective function is 0 on the first evaluation.

I don't think this is an issue for libmpc but I thought I'd post here and ask if you have any ideas as to what might be causing it. It would certainly be awesome if this library could be even better and faster by using cuOSQP.

Hello,

I have an issue trying to use this library, i might be doing something wrong in my CMakeLists.txt file, but i have no idea if that's the underlying issue.

Setup: Compiling with C++20 Using target_link_library(my_application mpc++)

Its throwing the following errors: In file included from /usr/local/include/mpc/NLMPC.hpp:3: In file included from /usr/local/include/mpc/IMPC.hpp:3: /usr/local/include/mpc/IDimensionable.hpp:22:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ /usr/local/include/mpc/IDimensionable.hpp:87:19: error: expected '(' for function-style cast or type construction double)>; ~~~~~~^ /usr/local/include/mpc/IDimensionable.hpp:90:31: error: expected expression cvec<sizer.ineq> &, ^ /usr/local/include/mpc/IDimensionable.hpp:94:19: error: expected '(' for function-style cast or type construction double)>; ~~~~~~^ /usr/local/include/mpc/IDimensionable.hpp:97:29: error: expected expression cvec<sizer.eq> &, ^ /usr/local/include/mpc/IDimensionable.hpp:102:29: error: expected expression cvec<sizer.nx> &, ^ /usr/local/include/mpc/IDimensionable.hpp:107:29: error: expected expression cvec<sizer.ny> &, ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc_node.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:3: In file included from /usr/local/include/mpc/IMPC.hpp:4: In file included from /usr/local/include/mpc/IOptimizer.hpp:3: /usr/local/include/mpc/IComponent.hpp:21:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc_node.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:3: In file included from /usr/local/include/mpc/IMPC.hpp:4: /usr/local/include/mpc/IOptimizer.hpp:20:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc_node.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:3: /usr/local/include/mpc/IMPC.hpp:23:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc_node.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:5: In file included from /usr/local/include/mpc/NLMPC/Constraints.hpp:3: In file included from /usr/local/include/mpc/NLMPC/Base.hpp:4: /usr/local/include/mpc/NLMPC/Mapping.hpp:20:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:29: error: use of undeclared identifier 'ph' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:36: error: use of undeclared identifier 'nu' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:44: error: use of undeclared identifier 'nu' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:51: error: use of undeclared identifier 'ch' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:29: error: use of undeclared identifier 'nu' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:36: error: use of undeclared identifier 'ch' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc/mpc.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:3: In file included from /usr/local/include/mpc/IMPC.hpp:3: /usr/local/include/mpc/IDimensionable.hpp:22:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ /usr/local/include/mpc/IDimensionable.hpp:87:19: error: expected '(' for function-style cast or type construction double)>; ~~~~~~^ /usr/local/include/mpc/IDimensionable.hpp:90:31: error: expected expression cvec<sizer.ineq> &, ^ /usr/local/include/mpc/IDimensionable.hpp:94:19: error: expected '(' for function-style cast or type construction double)>; ~~~~~~^ /usr/local/include/mpc/IDimensionable.hpp:97:29: error: expected expression cvec<sizer.eq> &, ^ /usr/local/include/mpc/IDimensionable.hpp:102:29: error: expected expression cvec<sizer.nx> &, ^ /usr/local/include/mpc/IDimensionable.hpp:107:29: error: expected expression cvec<sizer.ny> &, ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc/mpc.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:3: In file included from /usr/local/include/mpc/IMPC.hpp:4: In file included from /usr/local/include/mpc/IOptimizer.hpp:3: /usr/local/include/mpc/IComponent.hpp:21:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc/mpc.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:3: In file included from /usr/local/include/mpc/IMPC.hpp:4: /usr/local/include/mpc/IOptimizer.hpp:20:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:44: error: use of undeclared identifier 'ph' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:51: error: use of undeclared identifier 'nu' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ fatal error: too many errors emitted, stopping now [-ferror-limit=] In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc/mpc.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:3: /usr/local/include/mpc/IMPC.hpp:23:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ In file included from /SAM/Workspace/src/control_stack/path_tracking/src/mpc/mpc.cpp:1: In file included from /SAM/Workspace/src/control_stack/path_tracking/include/mpc/mpc.hpp:5: In file included from /usr/local/include/mpc/NLMPC.hpp:5: In file included from /usr/local/include/mpc/NLMPC/Constraints.hpp:3: In file included from /usr/local/include/mpc/NLMPC/Base.hpp:4: /usr/local/include/mpc/NLMPC/Mapping.hpp:20:23: error: a non-type template parameter cannot have type 'mpc::MPCSize' template ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:29: error: use of undeclared identifier 'ph' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:36: error: use of undeclared identifier 'nu' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:44: error: use of undeclared identifier 'nu' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:46:51: error: use of undeclared identifier 'ch' Iz2uMat.resize((ph() * nu()), (nu() * ch())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:29: error: use of undeclared identifier 'nu' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:36: error: use of undeclared identifier 'ch' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:44: error: use of undeclared identifier 'ph' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ /usr/local/include/mpc/NLMPC/Mapping.hpp:47:51: error: use of undeclared identifier 'nu' Iu2zMat.resize((nu() * ch()), (ph() * nu())); ^ fatal error: too many errors emitted, stopping now [-ferror-limit=]

Hi,

Not sure if I got the execution right,

  g++ test_main.cpp test_lmpc.cpp -I./include -lCatch2

but the test_lmpc fails with the following error, any suggestions? Thanks

/usr/include/Eigen/src/Core/DenseStorage.h:33:3: error: static assertion failed: OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG
/usr/include/Eigen/src/Core/DenseStorage.h: In instantiation of ‘void Eigen::internal::check_static_allocation_size() [with T = double; int Size = 30976]’:
/usr/include/Eigen/src/Core/DenseStorage.h:110:41:   required from ‘Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double; int Size = 30976; int MatrixOrArrayOptions = 0]’
/usr/include/Eigen/src/Core/DenseStorage.h:187:38:   required from ‘Eigen::DenseStorage<T, Size, _Rows, _Cols, _Options>::DenseStorage() [with T = double; int Size = 30976; int _Rows = 176; int _Cols = 176; int _Options = 0]’
/usr/include/Eigen/src/Core/PlainObjectBase.h:484:55:   required from ‘Eigen::PlainObjectBase<Derived>::PlainObjectBase() [with Derived = Eigen::Matrix<double, 176, 176, 0, 176, 176>]’
/usr/include/Eigen/src/Core/Matrix.h:292:5:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T&) [with T = Eigen::ReturnByValue<Eigen::KroneckerProduct<Eigen::Matrix<double, 11, 11, 0, 11, 11>, Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Matrix<double, 16, 16, 0, 16, 16> > > >; _Scalar = double; int _Rows = 176; int _Cols = 176; int _Options = 0; int _MaxRows = 176; int _MaxCols = 176]’
/usr/include/Eigen/src/Core/DenseBase.h:406:48:   required from ‘Eigen::DenseBase<Derived>::EvalReturnType Eigen::DenseBase<Derived>::eval() const [with Derived = Eigen::ReturnByValue<Eigen::KroneckerProduct<Eigen::Matrix<double, 11, 11, 0, 11, 11>, Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Matrix<double, 16, 16, 0, 16, 16> > > >; Eigen::DenseBase<Derived>::EvalReturnType = const Eigen::Matrix<double, 176, 176, 0, 176, 176>]’
/usr/local/include/mpc/ProblemBuilder.hpp:417:61:   required from ‘bool mpc::ProblemBuilder<Tnx, Tnu, Tndu, Tny, Tph, Tch>::buildTITerms() [with int Tnx = 12; int Tnu = 4; int Tndu = 4; int Tny = 12; int Tph = 10; int Tch = 10]’
/usr/local/include/mpc/ProblemBuilder.hpp:173:16:   required from ‘bool mpc::ProblemBuilder<Tnx, Tnu, Tndu, Tny, Tph, Tch>::setStateModel(mpc::mat<Tnx, Tnx>&, mpc::mat<Tnx, Tnu>&, mpc::mat<Tny, Tnx>&) [with int Tnx = 12; int Tnu = 4; int Tndu = 4; int Tny = 12; int Tph = 10; int Tch = 10; mpc::mat<Tnx, Tnx> = Eigen::Matrix<double, 12, 12, 0, 12, 12>; mpc::mat<Tnx, Tnu> = Eigen::Matrix<double, 12, 4, 0, 12, 4>; mpc::mat<Tny, Tnx> = Eigen::Matrix<double, 12, 12, 0, 12, 12>]’
/usr/local/include/mpc/LMPC.hpp:190:45:   required from ‘bool mpc::LMPC<Tnx, Tnu, Tndu, Tny, Tph, Tch>::setStateSpaceModel(mpc::mat<Tnx, Tnx>&, mpc::mat<Tnx, Tnu>&, mpc::mat<Tny, Tnx>&) [with int Tnx = 12; int Tnu = 4; int Tndu = 4; int Tny = 12; int Tph = 10; int Tch = 10; mpc::mat<Tnx, Tnx> = Eigen::Matrix<double, 12, 12, 0, 12, 12>; mpc::mat<Tnx, Tnu> = Eigen::Matrix<double, 12, 4, 0, 12, 4>; mpc::mat<Tny, Tnx> = Eigen::Matrix<double, 12, 12, 0, 12, 12>]’
test_lmpc.cpp:62:44:   required from here

The NLMPC doesn't seem to have a way of setting the future reference output. I guess something similar to the implementation in LMPC, that adds the ability to set a reference output, yr, and reference input, ur. Maybe we can add these two vectors directly in the definition of the ObjectiveFunction handle.

For my task i need to be able to specify online parameters in some way within the model itself. Specifically i need the ability to set the curvature for a cross-track-error model. This requires adding an additional horizon variable, e.g:

auto stateEq = [&](mpc::cvec<Tnx>& dx,
                   mpc::cvec<Tnx> x,
                   mpc::cvec<Tnu> u,
                  mpc::cvec<Tnv> v) {
...
};

The new variable, v, can be used for online parameter settings along the entire prediction horizon. This would also allow updating parameters with online estimates of disturbances or model parameters.