MpcSettings.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

namespace ct {
namespace optcon {



enum MPC_MODE
{

    FIXED_FINAL_TIME = 0,  

    CONSTANT_RECEDING_HORIZON,  

    FIXED_FINAL_TIME_WITH_MIN_TIME_HORIZON,  

    RECEDING_HORIZON_WITH_FIXED_FINAL_TIME  
};


struct mpc_settings
{
    bool stateForwardIntegration_ = false;

    ct::core::IntegrationType stateForwardIntegratorType_ = ct::core::IntegrationType::RK4;

    double stateForwardIntegration_dt_ = 0.001;

    bool measureDelay_ = false;

    double delayMeasurementMultiplier_ = 0.7;

    int fixedDelayUs_ = 0;

    int additionalDelayUs_ = 0;

    bool postTruncation_ = false;

    MPC_MODE mpc_mode = CONSTANT_RECEDING_HORIZON;

    core::Time minimumTimeHorizonMpc_ = 1.0;  // seconds

    bool coldStart_ = false;


    bool useExternalTiming_ = false;


    void print()
    {
        std::cout << " ========================= MPC SETTINGS =============================" << std::endl;
        std::cout << " stateForwardIntegration: \t " << stateForwardIntegration_ << std::endl;
        std::cout << " stateForwardIntegrator: \t " << stateForwardIntegratorType_ << std::endl;
        std::cout << " stateForwardIntegration_dt: \t " << stateForwardIntegration_dt_ << std::endl;
        std::cout << " measureDelay: \t " << measureDelay_ << std::endl;
        std::cout << " delayMeasurementMultiplier: \t " << delayMeasurementMultiplier_ << std::endl;
        std::cout << " fixedDelayUs: \t " << fixedDelayUs_ << std::endl;
        std::cout << " additionalDelayUs: \t " << additionalDelayUs_ << std::endl;
        std::cout << " postTruncation_: \t " << postTruncation_ << std::endl;
        std::cout << " mpc_mode: \t " << (int)mpc_mode << std::endl;
        std::cout << " minimumTimeHorizonMpc: \t " << minimumTimeHorizonMpc_ << std::endl;
        std::cout << " coldStart: \t " << coldStart_ << std::endl;
        std::cout << " useExternalTiming: \t " << useExternalTiming_ << std::endl;
        std::cout << " ============================== END =================================" << std::endl;
    }
};



inline void loadMpcSettings(const std::string& filename, mpc_settings& settings)
{
    boost::property_tree::ptree pt;
    boost::property_tree::read_info(filename, pt);

    settings.measureDelay_ = pt.get<bool>("mpc.measureDelay");
    settings.stateForwardIntegration_ = pt.get<bool>("mpc.stateForwardIntegration");
    settings.stateForwardIntegration_dt_ = pt.get<double>("mpc.stateForwardIntegration_dt");
    settings.stateForwardIntegratorType_ = (ct::core::IntegrationType)pt.get<int>("mpc.stateForwardIntegratorType");
    settings.fixedDelayUs_ = pt.get<int>("mpc.fixedDelayUs");
    settings.additionalDelayUs_ = pt.get<int>("mpc.additionalDelayUs");
    settings.minimumTimeHorizonMpc_ = pt.get<double>("mpc.timeHorizon");
    settings.coldStart_ = pt.get<bool>("mpc.coldStart");
    settings.postTruncation_ = pt.get<bool>("mpc.postTruncation");
    settings.delayMeasurementMultiplier_ = pt.get<double>("mpc.delayMeasurementMultiplier");
    settings.useExternalTiming_ = pt.get<bool>("mpc.useExternalTiming");
}


}  // namespace optcon
}  // namespace ct