Status: Codex analysis / WIP — no pull request will be opened for now.
This issue tracks the second Acados v0.5.5 analysis branch while keeping the
maintainers' PR queue unchanged.
Codex analysis
Acados v0.5.5 can compare a formulation with previously generated code and
reuse the solver only when they are compatible. Its reset API also provides a
clean way to discard primal-dual iterates and QP memory between repeated solves.
Both are relevant to repeated OCP and MHE workflows in Bioptim.
The branch adds opt-in Bioptim options:
set_check_reuse_possible(True) to reuse compatible generated code and
regenerate/rebuild it otherwise;set_tol_code_reuse(...) to control the Acados formulation-comparison
tolerance;set_reset_solver_before_solve(True) to reset iterates and QP memory before
repeated solves.
Code reuse requires an explicit, stable Acados model name. The existing default
behavior is unchanged when these options are not enabled.
Validation performed by Codex
- first solve generates and builds the solver;
- a second equivalent OCP reuses the generated code;
- a repeated solve calls the Acados reset path;
- reuse without a stable model name is rejected with an actionable error;
- Acados interface suite: 31 passed;
- solver-options suite: 10 passed.
This branch is stacked on the compatibility branch because the reuse API is
specific to Acados v0.5.5. It remains WIP until the analysis sequence is ready
for maintainer review.
This issue tracks the second Acados v0.5.5 analysis branch while keeping the
maintainers' PR queue unchanged.
mickaelbegon:codex/acados-v055-reuse-resetcodex/acados-v055-upgrade607f8a02Codex analysis
Acados v0.5.5 can compare a formulation with previously generated code and
reuse the solver only when they are compatible. Its reset API also provides a
clean way to discard primal-dual iterates and QP memory between repeated solves.
Both are relevant to repeated OCP and MHE workflows in Bioptim.
The branch adds opt-in Bioptim options:
set_check_reuse_possible(True)to reuse compatible generated code andregenerate/rebuild it otherwise;
set_tol_code_reuse(...)to control the Acados formulation-comparisontolerance;
set_reset_solver_before_solve(True)to reset iterates and QP memory beforerepeated solves.
Code reuse requires an explicit, stable Acados model name. The existing default
behavior is unchanged when these options are not enabled.
Validation performed by Codex
This branch is stacked on the compatibility branch because the reuse API is
specific to Acados v0.5.5. It remains WIP until the analysis sequence is ready
for maintainer review.