Rapid Optimal Control Kit
Rockit (Rapid Optimal Control kit) is a software framework to quickly prototype optimal control problems (aka dynamic optimization) that may arise in engineering: e.g. iterative learning (ILC), model predictive control (NMPC), system identification, and motion planning.
Notably, the software allows free end-time problems and multi-stage optimal problems. The software is currently focused on direct methods and relies heavily on CasADi. The software is developed by the KU Leuven MECO research team.
Install using pip:
pip install rockit-meco
(Taken from the example gallery)
Make available sin, cos, etc
from numpy import *
Import the project:
from rockit import *
Start an optimal control environment with a time horizon of 10 seconds starting from t0=0s. (free-time problems can be configured with `FreeTime(initial_guess))
ocp = Ocp(t0=0, T=10)
Define two scalar states (vectors and matrices also supported)
x1 = ocp.state() x2 = ocp.state()
Define one piecewise constant control input
order=1 for piecewise linear)
u = ocp.control()
Compose time-dependent expressions a.k.a. signals
(explicit time-dependence is supported with
e = 1 - x2**2
Specify differential equations for states
(DAEs also supported with
ocp.set_der(x1, e * x1 - x2 + u) ocp.set_der(x2, x1)
Lagrange objective term: signals in an integrand
ocp.add_objective(ocp.integral(x1**2 + x2**2 + u**2))
Mayer objective term: signals evaluated at t_f = t0_+T
(must be valid on the whole time domain running from
grid options available such as
ocp.subject_to(x1 >= -0.25) ocp.subject_to(-1 <= (u <= 1 ))
ocp.subject_to(ocp.at_t0(x1) == 0) ocp.subject_to(ocp.at_t0(x2) == 1)
Pick an NLP solver backend
Pick a solution method
- N -- number of control intervals
- M -- number of integration steps per control interval
- grid -- could specify e.g. UniformGrid() or GeometricGrid(4)
method = MultipleShooting(N=10, intg='rk') ocp.method(method)
Set initial guesses for states, controls and variables. Default: zero
ocp.set_initial(x2, 0) # Constant ocp.set_initial(x1, ocp.t/10) # Function of time ocp.set_initial(u, linspace(0, 1, 10)) # Array
sol = ocp.solve()
In case the solver fails, you can still look at the solution: (you may need to wrap the solve line in try/except to avoid the script aborting)
sol = ocp.non_converged_solution
tsa, x1a = sol.sample(x1, grid='control') tsb, x1b = sol.sample(x1, grid='integrator') tsc, x1c = sol.sample(x1, grid='integrator', refine=100) plot(tsa, x1a, '-') plot(tsb, x1b, 'o') plot(tsc, x1c, '.')
Rockit comes with a (almost) feature-complete interface to Matlab. Installation steps:
- Check which Python versions your Matlab installation supports, e.g.
- Open up a compatible Python environment in a terminal (if you don't have one, consider miniconda and create an environment by performing commands
conda create --name myspace python=3.6and
conda activate myspaceinside the Anaconda Prompt).
pip install "rockit-meco>=0.1.12" "casadi>=3.5.5"in that teminal
- Launch Matlab from that same terminal (Type the full path+name of the Matlab executable. In Windows you may find the Matlab executable by right-clicking the icon from the start menu; use quotes (") to encapsulate the full name if it contains spaces. e.g.
- Install CasADi for Matlab from https://github.com/casadi/casadi/releases/tag/3.5.5: pick the latest applicable matlab archive, unzip it, and add it to the Matlab path (without subdirectories)
- Make sure you remove any other CasADi version from the Matlab path.
- Only for Matlab >=2019b: make sure you do have in-process ExecutionMode for speed
- Add rockit to the matlab path:
- Run the
hello_worldexample from the example directory
- Check if the correct CasADi Python is found: py.imp.find_module('casadi')
- Check if the correct CasADi Matlab is found:
edit casadi.SerializerBase, should have a method called 'connect'
- Matlab error "Conversion to double from py.numpy.ndarray is not possible." -> Consult your Matlab release notes to verify that your Python version is supported
- Matlab error "Python Error: RuntimeError: .../casadi/core/serializing_stream.hpp:171: Assertion "false" failed:" -> May occur on Linux for some configurations. Consult rockit authors
In the long run, we aim to add a bunch of interfaces to third-party dynamic optimization solvers. At the moment, the following solvers are interfaced:
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