MATLAB parfor crashes while evaluating casadi.Function

[Armin Nurkanovic]

Hello everyone,

I have already read a similarly post on this forum but it has not helped me.

I need to do a lot of simulations and sensitivity propagation of the same ODE with different initial values/parameters.
doing it in a sequential way works fine, but doing in parallel, the codes crashes ( I have already considered all issues regarding MATLABs Parallel Computing Toolbox). I'm running it on my PC ,using 4 cores of my CPU. After  removing any parts containing CasADi  calls, the code works without errors. 


a simplified version of the code: 
%% done before

  opts = struct('tf',T,'abstol',abstol,'reltol',reltol);
        I = integrator('I', 'cvodes', dae, opts);
....

for k=1:N
        x0= X0(k,:);  % vector with all the initial values
        u0 = U0(k,:);
       res = I('x0',x0,'p',u0);
      a(k) = [full(res.xf)]
      % even putting the part of evaluating the integral into a matlab function does not help. for example crating a function...      res =  integrate_casadi(I,x0,u0);
end

replacing for with parfor does not work , even thought are iterates are independent,

MATLAB gives following error code:

Warning: While saving an object of class 'casadi.Function':
Serializing SWIG objects not supported.
> In parallel.internal.pool.serialize (line 21)
  In distcomp.remoteparfor/addInterval (line 103)
  In parallel_function>distributed_execution (line 780)
  In parallel_function (line 587)

...
Warning: A worker aborted during execution of the parfor loop. The parfor loop will now run again on the remaining workers.
> In parallel_function (line 596)
...
Error using parallel_function (line 604)
All workers aborted during execution of the parfor loop.
 


Any help is appreciated. Thank you.

Best,
Armin

[Joris Gillis]

Dear Armin,

parfor syntax is not currently supported, unfortunately.
With 'crashing', do you mean printing an error message, or Matlab shutting down?

Best regards,
  Joris

[Armin Nurkanovic]

Dear Joris,

just those messages I have posted appear in the Command Windows and the parallel pool shuts down, but MATLAB still works.  Is there any known workaround to use CasADi functions in a parallel manner in MATLAB?

Best
Armin