postproc package

Submodules

postproc.VOptIPOPT module

class postproc.VOptIPOPT.VOptIPOPT(laps: int, TRACK: dict, x0: numpy.ndarray, b_dd_ref: bool)[source]

Bases: object

Class to parse an ACADOS omptimization problem, prepared to be solved by HPIPM, for the IPOPT solver. Additionally, the parsed problem is solved by IPOPT.

Parameters

  • laps – number of race laps

  • TRACK – track dictionary containing number of discretization points and length (see below for an example)

  • x0 – initial conditions

  • b_dd_ref – switch to create driving dynamics reference speed profile or to solve energy strategy

optimization problem

Authors

Thomas Herrmann <thomas.herrmann@tum.de>

Created on

10.06.2020

sol_init(laps: int, TRACK: dict, x0: numpy.ndarray, b_dd_ref: bool)[source]

Solve an MRTP using ACADOS and subsequently run this script to get a direct solver comparison of IPOPT and HPIPM. Provide the information about the comparison data files below!

Parameters

  • laps – number of race laps

  • TRACK – track dictionary containing number of discretization points and length (see below for an example)

  • x0 – initial conditions

  • b_dd_ref – switch to create driving dynamics reference speed profile or to solve energy strategy

optimization problem

Authors

Thomas Herrmann <thomas.herrmann@tum.de>

Created on

10.06.2020

postproc.comp_ipopt_lap module

postproc.comp_ipopt_lap.comp_ipopt_lap(s_global: numpy.array, v_ref_long: numpy.array)[source]

Comparison script for a single race lap to IPOPT ZSM setup (2 laps for straight comparison to HPIPM as we do not know the starting velocity in the HPIPM solver in the first lap). The velocity pforiles and the machine temperature profiles will be compared. Note: v_ref.csv must be created with v0 set to the correct velocity of the flying lap. Otherwise, the temperature profile calculated by HPIPM is not exactly correct. The used data files are produced by the DrivingDynamicsReference class and by the IPOPT ZSM setup using non-regular sampling. Provide the correct paths to your data files below!

Parameters

  • s_global – array containing the global s-coordinate in [m] of the comparison data.

  • v_ref_long – reference vleocity profile (v_ref multiplied by the given number of race laps).

Authors

Thomas Herrmann <thomas.herrmann@tum.de>

Created on

01.02.2021

Module contents