Code Generation with qpOASES

[Odd Quatar]

Hi,

I am trying to implement a parametrized NLP which needs to be solved in a receding horizon fashion (NMPC) and ultimately need to deployed on an embedded platform that supports both C and C++.

I was able to set up my problem in CasADi and got good results using IPOPT and SQP method using qpOASES solver. Unfortunately, the SQP method with OSQP and QRQP solvers does not provide robust solutions and often fails with the following error.
 

It seems from the previous posts that a self-contained C code can only be generated with QRQP and OSQP solvers. Since qpOASES (I guess) is fully written in C++ and my embedded platform supports C++. Would there be any way of generating self contained C++ code with  CasADi? Any leads in this regard would be appreciated.

Cheers

[Marc-Simon Schäfer]

Hi,

related to the error: what happens if you set error_on_fail = false? Make sure to set it for the QP, not only for the NLP! e.g.:

opts.qpsol_options.error_on_fail = false;

Bye

[sandeep kumar r]

Do try the bfgs Hessian approximation with sqpmethod. The Hessian regularisation within sqpmethod is not robust. Convergence was slower but it solved the problem.

Regards

R Sandeep Kumar

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[Odd Quatar]

Many thanks, Kumar, although a bit slower but it worked nicely with osqp. Have you had experience with code generation as well?

[sandeep kumar r]

Dear Odd Quatar,

I don't have experience with importing codes to hardware.

If you intend to osqp on hardware, please check their website. They have support for embedded application. 

Regards

Sandeep

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