From 804bb08fd3a8c995c2d9d50cfc2c0eeb29d8439a Mon Sep 17 00:00:00 2001 From: mcarfagno Date: Thu, 1 Apr 2021 18:16:26 +0100 Subject: [PATCH] furter study on constrains --- notebooks/MPC_racecar_tracking.ipynb | 265 ++++++++++++++++++++++----- 1 file changed, 221 insertions(+), 44 deletions(-) diff --git a/notebooks/MPC_racecar_tracking.ipynb b/notebooks/MPC_racecar_tracking.ipynb index 070bbd2..cf8e429 100644 --- a/notebooks/MPC_racecar_tracking.ipynb +++ b/notebooks/MPC_racecar_tracking.ipynb @@ -292,8 +292,8 @@ "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 2.63 ms, sys: 844 µs, total: 3.47 ms\n", - "Wall time: 3.11 ms\n" + "CPU times: user 3.39 ms, sys: 0 ns, total: 3.39 ms\n", + "Wall time: 2.79 ms\n" ] } ], @@ -371,8 +371,8 @@ "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 2.06 ms, sys: 567 µs, total: 2.63 ms\n", - "Wall time: 1.77 ms\n" + "CPU times: user 2.71 ms, sys: 0 ns, total: 2.71 ms\n", + "Wall time: 1.82 ms\n" ] } ], @@ -673,17 +673,17 @@ " warm start: on, polish: on, time_limit: off\n", "\n", "iter objective pri res dua res rho time\n", - " 1 0.0000e+00 4.27e+00 4.67e+02 1.00e-01 3.75e-04s\n", - " 175 1.6965e+02 2.63e-05 3.49e-05 7.14e+00 1.85e-03s\n", + " 1 0.0000e+00 4.27e+00 4.67e+02 1.00e-01 3.74e-04s\n", + " 175 1.6965e+02 2.63e-05 3.49e-05 7.14e+00 1.83e-03s\n", "\n", "status: solved\n", "solution polish: unsuccessful\n", "number of iterations: 175\n", "optimal objective: 169.6454\n", - "run time: 2.63e-03s\n", + "run time: 2.08e-03s\n", "optimal rho estimate: 6.34e+00\n", "\n", - "CPU times: user 119 ms, sys: 93 µs, total: 119 ms\n", + "CPU times: user 114 ms, sys: 4.16 ms, total: 118 ms\n", "Wall time: 116 ms\n" ] } @@ -853,7 +853,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.1606s Max: 0.2352s Min: 0.1437s\n" + "CVXPY Optimization Time: Avrg: 0.1673s Max: 0.2378s Min: 0.1453s\n" ] } ], @@ -1059,7 +1059,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.5925s Max: 0.8466s Min: 0.2902s\n" + "CVXPY Optimization Time: Avrg: 0.6069s Max: 0.8421s Min: 0.2994s\n" ] } ], @@ -1393,7 +1393,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.1631s Max: 0.1989s Min: 0.1458s\n" + "CVXPY Optimization Time: Avrg: 0.1628s Max: 0.1967s Min: 0.1471s\n" ] } ], @@ -1586,7 +1586,7 @@ { "data": { "text/plain": [ - "[]" + "[]" ] }, "execution_count": 19, @@ -1680,22 +1680,22 @@ }, { "cell_type": "code", - "execution_count": 53, + "execution_count": 57, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "(-1.0, 21.0, -0.21100000000000002, -0.189)" + "(-2.0, 2.0)" ] }, - "execution_count": 53, + "execution_count": 57, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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e0dixY2PaQ6GQPB5PdNvj8ejUqVN2DgkAUpJWWDY0NGhgYCBu/9KlS1VbW6vFixdLknbs2KFt27aprq4upp9lWXHHOhyOhLWCwaCCwaAkKRAIyOv1JjVWl8uV9DGZMpq1s71+Ns892+tnunZaYfnCCy8Y9aupqdErr7wSt9/j8aivry+63dfXJ7fbnfA9/H6//H5/dLu3tzepsXq93qSPyZTRrJ3t9bN57tleP5XaPp9v2Dbb7ln29/dHXx8+fFilpaVxfcrLy3X27Fn19PQoHA7r4MGDqqystGtIAJAy2+5Zvv322/riiy/kcDg0fvx4rVixQtL39ym3bNmi+vp6OZ1OPfbYY2psbFQkEtHcuXMThioAjDbbwvKPf/xjwv1FRUWqr6+PbldUVCT8+UsA+CHhN3gAwABhCQAGCEsAMEBYAoABwhIADBCWAGCAsAQAA4QlABggLAHAAGEJAAYISwAwQFgCgAHCEgAMEJYAYICwBAADhCUAGCAsAcAAYQkABghLADBAWAKAAcISAAwQlgBggLAEAAO2PTe8qalJ3d3dkqQLFy4oPz9fGzZsiOu3cuVK5eXlKScnR06nU4FAwK4hAUDKbAvLp59+Ovp627Ztys/PH7bv2rVrVVBQYNdQACBttl+GW5alQ4cO6b777rO7FADYxraV5RWffvqpCgsLdccddwzbp7GxUZI0b948+f3+hH2CwaCCwaAkKRAIyOv1JjUOl8uV9DGZMpq1s71+Ns892+tnurbDsiwr1YMbGho0MDAQt3/p0qWqqqqSJP3tb39TSUmJfvWrXyV8j1AopKKiIg0ODmrdunV69NFHNW3atOvWvnI/1JTX61Vvb29Sx2TKaNbO9vrZPPdsr59KbZ/PN2xbWivLF1544ZrtQ0NDOnz48DW/aVNUVCRJKiwsVFVVlbq6uozCEgBGkq33LD/++GP5fD55PJ6E7ZcuXdLFixejr48fP65JkybZOSQASImt9ywPHDgQ942dUCikLVu2qL6+XoODg9q4caOk71ehs2bN0owZM+wcEgCkxNawXLlyZdy+oqIi1dfXS5KKi4sT/uwlAPzQ8Bs8AGCAsAQAA4QlABggLAHAAGEJAAYISwAwQFgCgAHCEgAMEJYAYICwBAADhCUAGCAsAcAAYQkABghLADBAWAKAAcISAAwQlgBggLAEAAOEJQAYICwBwABhCQAGCEsAMJDWo3APHTqkd955R//5z3/00ksvqby8PNq2a9cu7d27Vzk5OXr00UcTPg/8m2++UVNTk7766iuNHz9eTz/9tMaOHZvOkADAFmmtLEtLS/XMM8/o7rvvjtl/5swZHTx4UH/+85/1/PPPq6WlRZFIJO743bt3a/r06Wpubtb06dO1e/fudIYDALZJKyzvvPNO+Xy+uP1HjhxRdXW1brnlFk2YMEElJSXq6upK2G/OnDmSpDlz5ujIkSPpDAcAbGPLPctQKCSPxxPdLioqUigUius3ODgot9stSXK73Tp37pwdwwGAtF33nmVDQ4MGBgbi9i9dulRVVVUJj7EsK+2B/a9gMKhgMChJCgQC8nq9SR3vcrmSPiZTRrN2ttfP5rlne/1M175uWL7wwgtJv6nH41FfX190OxQKqaioKK5fYWGh+vv75Xa71d/fr4KCgmHf0+/3y+/3R7d7e3uTGpPX6036mEwZzdrZXj+b557t9VOpnei24hW2XIZXVlbq4MGD+u6779TT06OzZ8/qrrvuSthv3759kqR9+/YNu1IFgNGW1o8OHT58WG+++abOnTunQCCgH/3oR3r++edVWlqqn//851q1apVycnL029/+Vjk53+fy66+/rnnz5qm8vFwLFy5UU1OT9u7dK6/Xq1WrVmVkUgCQaQ7LjhuMI6C7uzup/jfa5QD1b/za1L/xzv2IX4YDwM2GsAQAA4QlABggLAHAAGEJAAYISwAwQFgCgIEb9ucsAWAkZc3Kcs2aNVlZO9vrZ/Pcs71+pmtnTVgCQDoISwAwkDVhefWfd8um2tleP5vnnu31M12bb/AAgIGsWVkCQDrS+nuWPzSdnZ1qbW1VJBJRTU2NFi5cGNNuWZZaW1vV0dGhMWPGqK6uTmVlZRmp3dvbq82bN2tgYEAOh0N+v18PPPBATJ8TJ05o/fr1mjBhgiRp5syZWrx4cUbqS9LKlSuVl5ennJwcOZ1OBQKBmHY759/d3a2mpqbodk9Pj5YsWaIFCxZE92Vy/q+99pra29tVWFioTZs2STJ/tPL1vk5Srb99+3YdO3ZMLpdLxcXFqqur02233RZ37PXOU6r1d+7cqffffz/6xIFly5apoqIi7li75t/U1BT904kXLlxQfn6+NmzYEHdsuvMf7rNm+/m3bhJDQ0PWH/7wB+vLL7+0vvvuO+uZZ56x/v3vf8f0OXbsmNXY2GhFIhHrs88+s+rr6zNWPxQKWadPn7Ysy7IuXLhgPfnkk3H1//nPf1ovv/xyxmr+r7q6OmtwcHDYdjvnf7WhoSHr8ccft3p6emL2Z3L+J06csE6fPm2tWrUqum/79u3Wrl27LMuyrF27dlnbt29POLbrfZ2kWr+zs9MKh8PRsSSqb1nXP0+p1t+xY4e1Z8+eax5n5/yvtnXrVuudd95J2Jbu/If7rNl9/m+ay/Curi6VlJSouLhYLpdL1dXVcY/WPXr0qGbPni2Hw6GpU6fq/Pnz6u/vz0h9t9sdXaXdeuutmjhxYsInWo4mO+d/tY8//lglJSUaP358xt/7imnTpsWtGkwerWzydZJq/XvvvVdOp1OSNHXqVFvPf6L6Juyc/xWWZenQoUO67777kn5fE8N91uw+/zfNZfj/Pn7X4/Ho1KlTcX2uftqbx+NRKBSKPo43U3p6evT5558nfO7QyZMntXr1arndbi1fvlylpaUZrd3Y2ChJmjdvXtx3A0dq/gcOHBj2g2Ln/E0erWzydZIJe/fuVXV19bDt1zpP6Xjvvfe0f/9+lZWV6ZFHHokLtJGY/6effqrCwkLdcccdw/bJ1Pyv/qzZff5vmrC0EnxT3+FwJN0nXZcuXdKmTZv0m9/8Rvn5+TFtkydP1muvvaa8vDy1t7drw4YNam5uzljthoYGFRUVaXBwUOvWrZPP59O0adOi7SMx/3A4rGPHjunhhx+Oa7N7/iZG4t/g3XffldPp1P3335+w/XrnKVW1tbXRe8A7duzQtm3bVFdXF9NnJOZ/rf8spczN/1qfteGkM/+b5jL8fx+/29fXF7di8ng8Mc/kSNQnHeFwWJs2bdL999+vmTNnxrXn5+crLy9PklRRUaGhoaGE//ul6srjhgsLC1VVVaWurq6YdrvnL0kdHR2aPHmyxo0bF9dm9/yvPFpZ0rCPVjb5OknHBx98oGPHjunJJ58c9kN4vfOUqnHjxiknJ0c5OTmqqanR6dOn4/rYPf+hoSEdPnz4mqvqTMw/0WfN7vN/04RleXm5zp49q56eHoXDYR08eFCVlZUxfSorK7V//35ZlqWTJ08qPz8/Y18olmXp9ddf18SJE/Xggw8m7DMwMBD9n62rq0uRSES33357RupfunRJFy9ejL4+fvy4Jk2aFNPHzvlfca1VhZ3zl8werWzydZKqzs5O7dmzR88++6zGjBmTsI/JeUrV1fefDx8+nPAWh53zl76/X+3z+WIuda+WifkP91mz+/zfVD+U3t7erq1btyoSiWju3LlatGiR2traJH1/iWJZllpaWvTRRx8pNzdXdXV1Ki8vz0jtf/3rX3rxxRc1adKk6Ipi2bJl0ZVcbW2t/v73v6utrU1Op1O5ubl65JFH9OMf/zgj9f/73/9q48aNkr7/333WrFkjOn9J+vbbb/X73/9ef/3rX6OXRVfXz+T8X331VX3yySf6+uuvVVhYqCVLlqiqqkpNTU3q7e2NPlp57NixCoVC2rJli+rr6yUl/jrJRP1du3YpHA5H7xNOmTJFK1asiKk/3HnKRP0TJ07oiy++kMPh0Pjx47VixQq53e4Rm/8vf/lLbd68WVOmTFFtbW20b6bnP9xnbcqUKbae/5sqLAHALjfNZTgA2ImwBAADhCUAGCAsAcAAYQkABghLADBAWAKAAcISAAz8Pz6p8dsFS70hAAAAAElFTkSuQmCC\n", + "image/png": 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\n", "text/plain": [ "
" ] @@ -1714,7 +1714,68 @@ " return(-m,1,y-m*x)\n", "\n", "#test -> assume point 10,1,pi/6\n", - "coeff = get_coeff(1,-0.2, 0.0)\n", + "coeff = get_coeff(1,-1, np.pi/2)\n", + "y = []\n", + "pts = np.linspace(0,20,100)\n", + "\n", + "for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + "plt.figure(figsize=(5,5))\n", + "plt.plot(pts,y,\"b-\")\n", + "\n", + "plt.xlim((-2, 2))\n", + "plt.ylim((-2, 2))" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## WARN TANGENT BREAKS AROUND PI/2?\n", + "force the equation to x = val" + ] + }, + { + "cell_type": "code", + "execution_count": 56, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(-2.0, 2.0)" + ] + }, + "execution_count": 56, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "def get_coeff(x,y,theta):\n", + " \n", + " if (theta - np.pi/2) < 0.01:\n", + " #print (\"WARN -> theta is 90, tan is: \" + str(theta))\n", + " # eq is x = val\n", + " m = 0\n", + " return (1,1e-6,x)\n", + " else:\n", + " m = np.sin(theta)/np.cos(theta)\n", + " return(-m,1,y-m*x)\n", + " \n", + "#test -> assume point 10,1,pi/6\n", + "coeff = get_coeff(1,-1, np.pi/2)\n", "y = []\n", "pts = np.linspace(0,20,100)\n", "\n", @@ -1724,7 +1785,9 @@ "plt.figure(figsize=(5,5))\n", "\n", "plt.plot(pts,y,\"b-\")\n", - "plt.axis(\"equal\")" + "plt.axis(\"equal\")\n", + "plt.xlim((-2, 2))\n", + "plt.ylim((-2, 2))" ] }, { @@ -1797,22 +1860,14 @@ }, { "cell_type": "code", - "execution_count": 84, + "execution_count": 22, "metadata": {}, "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/home/marcello/.conda/envs/jupyter/lib/python3.8/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n", - " and should_run_async(code)\n" - ] - }, { "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.1657s Max: 0.2079s Min: 0.1469s\n" + "CVXPY Optimization Time: Avrg: 0.1656s Max: 0.2061s Min: 0.1480s\n" ] } ], @@ -1936,12 +1991,12 @@ }, { "cell_type": "code", - "execution_count": 85, + "execution_count": 23, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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" ] @@ -1996,18 +2051,9 @@ }, { "cell_type": "code", - "execution_count": 86, + "execution_count": 24, "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/home/marcello/.conda/envs/jupyter/lib/python3.8/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n", - " and should_run_async(code)\n" - ] - } - ], + "outputs": [], "source": [ "from scipy.signal import savgol_filter\n", "def compute_path_from_wp(start_xp, start_yp, step = 0.1):\n", @@ -2045,7 +2091,7 @@ }, { "cell_type": "code", - "execution_count": 87, + "execution_count": 62, "metadata": {}, "outputs": [ { @@ -2060,12 +2106,14 @@ "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.1735s Max: 0.2559s Min: 0.1568s\n" + "CVXPY Optimization Time: Avrg: 0.1837s Max: 0.2651s Min: 0.1593s\n" ] } ], "source": [ "WIDTH=0.12\n", + "computed_coeff = []\n", + "\n", "track = compute_path_from_wp([0,3,3,0],\n", " [0,0,1,1],0.05)\n", "\n", @@ -2160,6 +2208,7 @@ " \n", " #Track constrains\n", " low,upp = get_track_constrains(x_ref,WIDTH)\n", + " computed_coeff.append((low,upp))\n", " for ii in range(low.shape[1]):\n", " constr += [low[0,ii]*x[0,ii] + x[1,ii] >= low[2,ii]]\n", " #constr += [upp[0,ii]*x[0,ii] + x[1,ii] <= upp[2,ii]]\n", @@ -2191,7 +2240,7 @@ }, { "cell_type": "code", - "execution_count": 88, + "execution_count": 63, "metadata": {}, "outputs": [ { @@ -2241,6 +2290,134 @@ "plt.show()" ] }, + { + "cell_type": "code", + "execution_count": 66, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "plt.style.use(\"ggplot\")\n", + "\n", + "times = np.linspace(1,len(computed_coeff)/10,4).astype(int)\n", + "\n", + "plt.figure(figsize=(5,5))\n", + "pts = np.linspace(-2,2,100)\n", + "\n", + "\"\"\"\n", + "this needs tydy up badly...\n", + "\"\"\"\n", + "\n", + "plt.subplot(2, 2, 1)\n", + "c1 = computed_coeff[times[0]][0]\n", + "c2 = computed_coeff[times[0]][1]\n", + "for idx in range(c.shape[1]):\n", + " #low\n", + " coeff = c1[:,idx]\n", + " y = []\n", + "\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"b-\")\n", + " \n", + " #high\n", + " coeff = c2[:,idx]\n", + " y = []\n", + "\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"r-\")\n", + " plt.xlim((-2, 2))\n", + " plt.ylim((-2, 2))\n", + "\n", + "\n", + "plt.subplot(2, 2, 2)\n", + "c1 = computed_coeff[times[1]][0]\n", + "c2 = computed_coeff[times[1]][1]\n", + "for idx in range(c.shape[1]):\n", + " #low\n", + " coeff = c1[:,idx]\n", + " y = []\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"b-\")\n", + " \n", + " #high\n", + " coeff = c2[:,idx]\n", + " y = []\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"r-\")\n", + " plt.xlim((-2, 2))\n", + " plt.ylim((-2, 2))\n", + "\n", + "\n", + "plt.subplot(2, 2, 3)\n", + "c1 = computed_coeff[times[2]][0]\n", + "c2 = computed_coeff[times[2]][1]\n", + "for idx in range(c.shape[1]):\n", + " #low\n", + " coeff = c1[:,idx]\n", + " y = []\n", + "\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"b-\")\n", + " \n", + " #high\n", + " coeff = c2[:,idx]\n", + " y = []\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"r-\")\n", + " plt.xlim((-2, 2))\n", + " plt.ylim((-2, 2))\n", + "\n", + "plt.subplot(2, 2, 4)\n", + "c1 = computed_coeff[times[3]][0]\n", + "c2 = computed_coeff[times[3]][1]\n", + "for idx in range(c.shape[1]):\n", + " #low\n", + " coeff = c1[:,idx]\n", + " y = []\n", + "\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"b-\")\n", + " \n", + " #high\n", + " coeff = c2[:,idx]\n", + " y = []\n", + " for x in pts:\n", + " y.append((-coeff[0]*x+coeff[2])/coeff[1])\n", + " \n", + " plt.plot(pts,y,\"r-\")\n", + " plt.xlim((-2, 2))\n", + " plt.ylim((-2, 2))\n", + "\n", + "plt.tight_layout()\n", + "plt.show()" + ] + }, { "cell_type": "code", "execution_count": null,