MATLAB: check values in idxbx[_0,_e] and idxbu (#1390)
#1
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| name: Test Full Build Linux | |
| on: | |
| push: | |
| branches-ignore: | |
| - 'doc*' | |
| - 'wip*' | |
| pull_request: | |
| branches: | |
| - '*' | |
| env: | |
| BUILD_TYPE: Release | |
| ACADOS_PYTHON: ON | |
| ACADOS_OCTAVE: ON | |
| ACADOS_WITH_OSQP: ON | |
| ACADOS_WITH_QPOASES: ON | |
| ACADOS_WITH_DAQP: ON | |
| ACADOS_WITH_QPDUNES: OFF | |
| ACADOS_ON_CI: ON | |
| jobs: | |
| core_build: | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - name: Create Build Environment | |
| working-directory: ${{runner.workspace}} | |
| run: cmake -E make_directory ${{runner.workspace}}/acados/build | |
| - name: Configure CMake | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/build | |
| run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DACADOS_WITH_QPOASES=$ACADOS_WITH_QPOASES -DACADOS_WITH_DAQP=$ACADOS_WITH_DAQP -DACADOS_WITH_QPDUNES=$ACADOS_WITH_QPDUNES -DACADOS_WITH_OSQP=$ACADOS_WITH_OSQP -DACADOS_PYTHON=$ACADOS_PYTHON -DACADOS_OCTAVE=OFF -DACADOS_WITH_OPENMP=ON -DACADOS_NUM_THREADS=1 | |
| - name: Build & Install | |
| working-directory: ${{runner.workspace}}/acados/build | |
| shell: bash | |
| run: | | |
| cmake --build . --config $BUILD_TYPE | |
| make install -j4 | |
| - name: Store shared libs (/lib) | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: lib | |
| if-no-files-found: error | |
| path: ${{runner.workspace}}/acados/lib/ | |
| compression-level: 0 | |
| overwrite: true | |
| - name: Store build scripts (/build) | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: build | |
| if-no-files-found: error | |
| path: | | |
| ${{runner.workspace}}/acados/build/ | |
| !${{runner.workspace}}/**/*.dir | |
| compression-level: 0 | |
| overwrite: true | |
| # exclude object files in .dir directories | |
| - name: Store include directory (/include) | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: include | |
| if-no-files-found: error | |
| path: ${{runner.workspace}}/acados/include/ | |
| compression-level: 0 | |
| overwrite: true | |
| python_interface: | |
| needs: core_build | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| path: ${{runner.workspace}}/acados | |
| - name: Export Paths | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/export_paths.sh'' ${{runner.workspace}} | |
| - name: Install Python interface | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_python.sh'' | |
| - name: Install Tera | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_tera.sh | |
| - name: Run CMake python tests (ctest) | |
| working-directory: ${{runner.workspace}}/acados/build | |
| shell: bash | |
| run: | | |
| source ${{runner.workspace}}/acados/acadosenv/bin/activate | |
| ctest -C $BUILD_TYPE --output-on-failure -j 4 --parallel 4; | |
| python_interface_new_casadi: | |
| needs: core_build | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| path: ${{runner.workspace}}/acados | |
| - name: Export Paths | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/export_paths.sh'' ${{runner.workspace}} | |
| - name: Install Python interface | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_python.sh'' | |
| - name: Install Tera | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_tera.sh | |
| - name: Install simde | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_simde.sh'' | |
| - name: Install new CasADi Python | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_new_casadi_python.sh'' | |
| - name: Run Python tests that need new CasADi | |
| working-directory: ${{runner.workspace}}/acados/build | |
| shell: bash | |
| run: | | |
| source ${{runner.workspace}}/acados/acadosenv/bin/activate | |
| cd ${{runner.workspace}}/acados/examples/acados_python/p_global_example | |
| python example_p_global.py | |
| - name: Run more Python tests | |
| working-directory: ${{runner.workspace}}/acados/build | |
| shell: bash | |
| run: | | |
| source ${{runner.workspace}}/acados/acadosenv/bin/activate | |
| cd ${{runner.workspace}}/acados/examples/acados_python/tests | |
| python test_rti_sqp_residuals.py | |
| - name: Python sensitivity examples | |
| working-directory: ${{runner.workspace}}/acados/build | |
| shell: bash | |
| run: | | |
| source ${{runner.workspace}}/acados/acadosenv/bin/activate | |
| cd ${{runner.workspace}}/acados/examples/acados_python/pendulum_on_cart/solution_sensitivities | |
| python value_gradient_example.py | |
| python policy_gradient_example.py | |
| python test_solution_sens_and_exact_hess.py | |
| python forw_vs_adj_param_sens.py | |
| cd ${{runner.workspace}}/acados/examples/acados_python/solution_sensitivities_convex_example | |
| python value_gradient_example_linear.py | |
| python batch_adjoint_solution_sensitivity_example.py | |
| - name: Python Furuta pendulum timeout test | |
| working-directory: ${{runner.workspace}}/acados/build | |
| shell: bash | |
| run: | | |
| source ${{runner.workspace}}/acados/acadosenv/bin/activate | |
| cd ${{runner.workspace}}/acados/examples/acados_python/furuta_pendulum | |
| python main_closed_loop.py | |
| MATLAB_test: | |
| needs: core_build | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| path: ${{runner.workspace}}/acados | |
| - name: Install Casadi MATLAB | |
| working-directory: ${{runner.workspace}}/acados/external | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/install_casadi_matlab.sh | |
| - name: Export Paths | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/export_paths.sh'' ${{runner.workspace}} | |
| - name: Install MATLAB | |
| uses: matlab-actions/setup-matlab@v2 | |
| if: always() | |
| with: | |
| release: R2021a | |
| cache: true | |
| # just needed for blasfeo_target.h | |
| - name: Configure CMake | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/build | |
| run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DACADOS_WITH_QPOASES=$ACADOS_WITH_QPOASES -DACADOS_WITH_DAQP=$ACADOS_WITH_DAQP -DACADOS_WITH_QPDUNES=$ACADOS_WITH_QPDUNES -DACADOS_WITH_OSQP=$ACADOS_WITH_OSQP -DACADOS_PYTHON=OFF -DACADOS_OCTAVE=OFF | |
| - name: Configure MATLAB workspace | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/examples/acados_matlab_octave/test | |
| run: | | |
| cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test | |
| source env.sh | |
| - name: Run Matlab tests | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: | | |
| cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; run_matlab_tests | |
| MATLAB_examples_new_casadi: | |
| needs: core_build | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| path: ${{runner.workspace}}/acados | |
| - name: Install Casadi MATLAB | |
| working-directory: ${{runner.workspace}}/acados/external | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/install_new_casadi_matlab.sh | |
| - name: Install simde | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_simde.sh'' | |
| - name: Export Paths | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/export_paths.sh'' ${{runner.workspace}} | |
| - name: Install MATLAB | |
| uses: matlab-actions/setup-matlab@v2 | |
| if: always() | |
| with: | |
| release: R2021a | |
| products: Simulink Simulink_Test | |
| cache: true | |
| # just needed for blasfeo_target.h | |
| - name: Configure CMake | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/build | |
| run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DACADOS_WITH_QPOASES=$ACADOS_WITH_QPOASES -DACADOS_WITH_DAQP=$ACADOS_WITH_DAQP -DACADOS_WITH_QPDUNES=$ACADOS_WITH_QPDUNES -DACADOS_WITH_OSQP=$ACADOS_WITH_OSQP -DACADOS_PYTHON=OFF -DACADOS_OCTAVE=OFF | |
| - name: Configure MATLAB workspace | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/examples/acados_matlab_octave/test | |
| run: | | |
| cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test | |
| source env.sh | |
| - name: Run Matlab tests | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: | | |
| cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; run_matlab_examples_new_casadi | |
| - name: Run Simulink MOCP test | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/mocp_transition_example; main_mocp_simulink | |
| # run selected matlab examples | |
| MATLAB_examples: | |
| needs: core_build | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| path: ${{runner.workspace}}/acados | |
| - name: Install Casadi MATLAB | |
| working-directory: ${{runner.workspace}}/acados/external | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/install_casadi_matlab.sh | |
| - name: Export Paths | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/export_paths.sh'' ${{runner.workspace}} | |
| - name: Install MATLAB | |
| uses: matlab-actions/setup-matlab@v2 | |
| if: always() | |
| with: | |
| release: R2021a | |
| products: Simulink Simulink_Test | |
| cache: true | |
| # just needed for blasfeo_target.h | |
| - name: Configure CMake | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/build | |
| run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DACADOS_WITH_QPOASES=$ACADOS_WITH_QPOASES -DACADOS_WITH_DAQP=$ACADOS_WITH_DAQP -DACADOS_WITH_QPDUNES=$ACADOS_WITH_QPDUNES -DACADOS_WITH_OSQP=$ACADOS_WITH_OSQP -DACADOS_PYTHON=OFF -DACADOS_OCTAVE=OFF | |
| - name: Configure MATLAB workspace | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/examples/acados_matlab_octave/test | |
| run: | | |
| cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test | |
| source env.sh | |
| - name: Run Matlab examples | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: | | |
| cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; test_all_examples; | |
| simulink_test: | |
| needs: core_build | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| path: ${{runner.workspace}}/acados | |
| - name: Install Casadi MATLAB | |
| working-directory: ${{runner.workspace}}/acados/external | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/install_casadi_matlab.sh | |
| - name: Export Paths | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/export_paths.sh'' ${{runner.workspace}} | |
| - name: Install MATLAB | |
| uses: matlab-actions/setup-matlab@v2 | |
| if: always() | |
| with: | |
| release: R2021a | |
| products: Simulink Simulink_Test | |
| cache: true | |
| # just needed for blasfeo_target.h | |
| - name: Configure CMake | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/build | |
| run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DACADOS_WITH_QPOASES=$ACADOS_WITH_QPOASES -DACADOS_WITH_DAQP=$ACADOS_WITH_DAQP -DACADOS_WITH_QPDUNES=$ACADOS_WITH_QPDUNES -DACADOS_WITH_OSQP=$ACADOS_WITH_OSQP -DACADOS_PYTHON=OFF -DACADOS_OCTAVE=OFF | |
| - name: Run Simulink closed-loop test | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; simulink_test | |
| - name: Run Simulink initialization test | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; simulink_init_test | |
| - name: Run Simulink QP test | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; simulink_qp_test | |
| - name: Run Simulink slack test | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; simulink_slack_test | |
| - name: Run Simulink parameter test | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; simulink_param_test | |
| - name: Run Simulink sparse parameter test | |
| uses: matlab-actions/run-command@v2 | |
| if: always() | |
| with: | |
| command: cd ${{runner.workspace}}/acados/examples/acados_matlab_octave/test; simulink_sparse_param_test | |
| octave_test: | |
| needs: core_build | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| path: ${{runner.workspace}}/acados | |
| - name: Prepare Octave | |
| working-directory: ${{runner.workspace}}/acados/external | |
| shell: bash | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install liboctave-dev -y --fix-missing | |
| octave --version | |
| ${{runner.workspace}}/acados/.github/linux/install_casadi_octave.sh | |
| - name: Install Tera | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: ${{runner.workspace}}/acados/.github/linux/install_tera.sh'' | |
| - name: Export Paths | |
| working-directory: ${{runner.workspace}}/acados | |
| shell: bash | |
| run: | | |
| ${{runner.workspace}}/acados/.github/linux/export_paths.sh'' ${{runner.workspace}} | |
| - name: Configure CMake | |
| shell: bash | |
| working-directory: ${{runner.workspace}}/acados/build | |
| run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DACADOS_WITH_QPOASES=$ACADOS_WITH_QPOASES -DACADOS_WITH_DAQP=$ACADOS_WITH_DAQP -DACADOS_WITH_QPDUNES=$ACADOS_WITH_QPDUNES -DACADOS_WITH_OSQP=$ACADOS_WITH_OSQP -DACADOS_PYTHON=OFF -DACADOS_OCTAVE=$ACADOS_OCTAVE | |
| - name: Run CMake Octave tests (ctest) | |
| working-directory: ${{runner.workspace}}/acados/build | |
| shell: bash | |
| run: ctest -C $BUILD_TYPE --output-on-failure -j 4 --parallel 4; |