mayataka

from casadi import *
import numpy as np


# optimization variables
x1 = SX.sym('x1')
x2 = SX.sym('x2')
w = [x1, x2]
w0 = [0, 0]
lbw = [-np.inf, -np.inf]

mayataka

gsettings set org.gnome.desktop.input-sources xkb-options "['ctrl:nocaps']"
sudo apt update -y
sudo apt upgrade -y
sudo apt autoremove -y
sudo apt install build-essential cmake git libeigen3-dev vim tmux doxygen graphviz ffmpeg libglpk-dev -y
sudo apt install python3-sphinx -y
# install docker
sudo apt install lsb-release -y
sudo apt install apt-transport-https ca-certificates curl software-properties-common -y
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

mayataka

mayataka

from casadi import *
import math
import numpy as np
import optuna


class CartPole:
    def __init__(self):
        self.mc = 2.0   # cart の質量[kg]
        self.mp = 0.2   # pole の質量[kg]

mayataka

CasADi とは？

数値最適化用の自動微分&各種ソルバーへのインターフェースツールです． MPCなどでの活用が便利です．

なぜ CasADiを使うのか？

• 定式化が非常に直感的で使いやすい．
• かなり変わった定式化にも対応可能（一般的な数値最適化ソルバーであるため）
• バックエンドソルバーが豊富
• AutoGenU，ACADO Toolkitといったシンボリック計算MPCツールと比べてトータルの実装時間が圧倒的に高速

mayataka

from casadi import *
import math
import numpy as np


# cartpole のダイナミクスを記述
# cartpoleの運動方程式は(https://ocw.mit.edu/courses/electrical-engineering-and-computer-science/6-832-underactuated-robotics-spring-2009/readings/MIT6_832s09_read_ch03.pdf)を参照した
class CartPole:
    def __init__(self):
        self.mc = 2.0   # cart の質量[kg]

mayataka

from casadi import *
import math

# 問題設定
T = 5.0     # ホライゾン長さ
N = 100      # ホライゾン離散化グリッド数
dt = T / N  # 離散化ステップ
nx = 4      # 状態空間の次元
nu = 1      # 制御入力の次元

mayataka

gsettings set org.gnome.desktop.input-sources xkb-options "['ctrl:nocaps']"
echo export PATH=/opt/openrobots/bin:$PATH >> ~/.bashrc
echo export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH >> ~/.bashrc
echo export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH >> ~/.bashrc
echo export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH >> ~/.bashrc
echo export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH >> ~/.bashrc
source ~/.bashrc

mayataka

sudo apt update
sudo apt install robotpkg-py38-qt5-gepetto-viewer-corba -y
git clone https://github.com/stack-of-tasks/pinocchio-gepetto-viewer.git --recursive
cd pinocchio-gepetto-viewer
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
sudo make install

mayataka

sudo apt install -qqy lsb-release gnupg2 curl
echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt update -y
sudo apt install -qqy robotpkg-py38-pinocchio
echo export PATH=/opt/openrobots/bin:$PATH >> ~/.bashrc
echo export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH >> ~/.bashrc
echo export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH >> ~/.bashrc
echo export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH >> ~/.bashrc
echo export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH >> ~/.bashrc