get docker working, fix issue #85

.gitignore

@@ -1,3 +1,4 @@
 .vscode
 build
 
+.DS_Store

C++/ADCodeGen/CMakeLists.txt

@@ -6,7 +6,10 @@ set(CMAKE_CXX_STANDARD_LIBRARIES -ldl)
 
 include_directories("..")
 #include_directories(.)
-include_directories(../External/Eigen)
+
+# Find the globally installed Eigen library
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
 include_directories(../External/Json/include)
 
 add_executable(ADCodeGen
@@ -16,4 +19,5 @@ add_executable(ADCodeGen
         ../Params/params.cpp
         main.cpp)
 
+target_link_libraries(ADCodeGen /usr/local/lib/libcppad_lib.so)
 #target_link_libraries(ADCodeGen cppad_cg_RK4.so m)

C++/ADCodeGen/main.cpp

@@ -30,7 +30,7 @@ int main(void) {
     std::unique_ptr<CppAD::cg::GenericModel<double>> model;
     model = myLib->model("RK4");
 
-    Eigen::Vector<double,15> x;
+    Eigen::Matrix<double,15,1> x;
     x.setZero();
     x(3) = 10.0;
     std::vector<double> xv(x.data(), x.data() + x.size());
@@ -50,7 +50,7 @@ int main(void) {
     StateVector f = Eigen::Map<StateVector>((model_cont_dyn->ForwardZero(xv)).data());
     std::cout << f << std::endl;
 
-    Eigen::Vector<double,NX> s;
+    Eigen::Matrix<double,NX,1> s;
     s.setZero();
     s(3) = 10.0;
     s(5) = 1.0;

C++/CMakeLists.txt

@@ -2,15 +2,19 @@ cmake_minimum_required(VERSION 3.8)
 project(MPCC)
 
 set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_FLAGS "-O0")
+set(CMAKE_CXX_STANDARD_LIBRARIES -ldl)
+set(CMAKE_CXX_FLAGS "-O2")
 
 include_directories(.)
-include_directories(External/blasfeo/lib/include)
-include_directories(External/hpipm/lib/include)
+include_directories(/opt/blasfeo/include)
+include_directories(/app/hpipm/include)
 include_directories(External/matplotlib)
-include_directories(External/Eigen)
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
 include_directories(External/Json/include)
 
+find_package(Python3 COMPONENTS Interpreter NumPy Development)
+
 add_executable(MPCC
         main.cpp
         types.cpp
@@ -36,8 +40,15 @@ add_executable(MPCC
         Plotting/plotting.cpp
         Plotting/plotting.h)
 
-find_package(Python3 COMPONENTS Interpreter NumPy Development)
+
+
+message(STATUS "Python3_EXECUTABLE: ${Python3_EXECUTABLE}")
+message(STATUS "Python3_INCLUDE_DIRS: ${Python3_INCLUDE_DIRS}")
+message(STATUS "Python3_LIBRARIES: ${Python3_LIBRARIES}")
+
 target_include_directories(MPCC PRIVATE ${Python3_INCLUDE_DIRS})
 target_link_libraries(MPCC ${Python3_LIBRARIES})
 
-target_link_libraries(MPCC ${CMAKE_SOURCE_DIR}/External/hpipm/lib/lib/libhpipm.a ${CMAKE_SOURCE_DIR}/External/blasfeo/lib/lib/libblasfeo.a m)
+
+# target_link_libraries(MPCC ${CMAKE_SOURCE_DIR}/External/hpipm/lib/lib/libhpipm.a ${CMAKE_SOURCE_DIR}/External/blasfeo/lib/lib/libblasfeo.a m)
+target_link_libraries(MPCC /app/hpipm/lib/libhpipm.a /opt/blasfeo/lib/libblasfeo.a m)

C++/Dockerfile

@@ -0,0 +1,66 @@
+# Use the official Ubuntu 20.04 as the base image
+FROM ubuntu:20.04
+
+# Set the geographic area environment variable
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=Europe/Paris
+
+# Set the working directory inside the container
+WORKDIR /app
+
+RUN apt update && \
+    apt install -y build-essential wget && \
+    apt install -y cmake && \
+    apt install -y git && \
+    apt install -y libgtest-dev
+
+RUN apt-get update && apt-get install -y \
+    python3 \
+    python3-dev \
+    python3-pip\
+    python3-numpy
+
+# Install Python packages
+RUN pip3 install numpy==1.20.0 matplotlib
+
+# Install Eigen library
+RUN apt-get install -y libeigen3-dev
+
+RUN git clone https://github.com/coin-or/CppAD.git
+WORKDIR /app/CppAD
+RUN mkdir build
+WORKDIR /app/CppAD/build
+RUN cmake ..
+RUN make install
+
+WORKDIR /app
+
+RUN git clone https://github.com/joaoleal/CppADCodeGen.git
+WORKDIR /app/CppADCodeGen
+RUN mkdir build
+WORKDIR /app/CppADCodeGen/build
+RUN cmake ..
+RUN make install
+
+WORKDIR /app
+
+RUN git clone https://github.com/giaf/blasfeo.git
+WORKDIR /app/blasfeo
+RUN mkdir build
+WORKDIR /app/blasfeo/build
+RUN cmake ..
+RUN make install
+
+WORKDIR /app
+RUN git clone https://github.com/giaf/hpipm.git
+WORKDIR /app/hpipm
+RUN make static_library TARGET=GENERIC -j 4
+
+# Create a directory inside the container to mount the external folder
+RUN mkdir /app/MPCC
+
+# Mount the external folder to /app/MPCC inside the container
+VOLUME /app/MPCC
+
+# Change to the MPCC directory
+WORKDIR /app/MPCC

C++/MPC/mpc.cpp

@@ -47,7 +47,7 @@ void MPC::setMPCProblem()
 {
     for(int i=0;i<=N;i++)
     {
-        setStage(initial_guess_[i].xk,initial_guess_[i].uk,initial_guess_[i+1].xk,i);
+        setStage(initial_guess_[i].xk,initial_guess_[i].uk,initial_guess_[std::min(i+1, N)].xk,i);
     }
 }
 

C++/Plotting/plotting.cpp

@@ -98,6 +98,7 @@ void Plotting::plotRun(const std::list<MPCReturn> &log, const TrackPos &track_xy
     plt::axis("equal");
     plt::xlabel("X [m]");
     plt::ylabel("Y [m]");
+    plt::save("XY_traj.pdf");
     plt::figure();
     // plt::subplot(3,2,1);
     plt::plot(plot_x);

C++/install.sh

@@ -17,40 +17,15 @@
 ## Install dependencies
 set -e
 
-## clone blasfeo
-repository_blasfeo="https://github.com/giaf/blasfeo.git"
-localFolder_blasfeo="External/blasfeo"
-git clone "$repository_blasfeo" "$localFolder_blasfeo"
-## clone hpipm
-repository_hpipm="https://github.com/giaf/hpipm.git"
-localFolder_hpipm="External/hpipm"
-git clone "$repository_hpipm" "$localFolder_hpipm"
+
 ## clone matplotlib-cpp
 repository_matplotlib="https://github.com/lava/matplotlib-cpp.git"
 localFolder_matplotlib="External/matplotlib"
 git clone "$repository_matplotlib" "$localFolder_matplotlib"
-## clone eigne
-repository_eigen="https://gitlab.com/libeigen/eigen.git"
-localFolder_eigen="External/Eigen"
-git clone "$repository_eigen" "$localFolder_eigen"
+
 ## clone json
 repository_json="https://github.com/nlohmann/json.git"
 localFolder_json="External/Json"
-git clone "$repository_json" "$localFolder_json"
-
-
-cd External/blasfeo
-mkdir -p build
-mkdir -p lib
-cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../lib)
-make
-make install
-
-cd ../../hpipm
-mkdir -p build
-mkdir -p lib
-cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=$(realpath ../lib) -DBLASFEO_PATH=$(realpath ../../blasfeo/lib)
-make
-make install
+git clone --depth 1 "$repository_json" "$localFolder_json"
+
+

C++/main.cpp

@@ -59,7 +59,7 @@ int main() {
         log.push_back(mpc_sol);
     }
     plotter.plotRun(log,track_xy);
-    plotter.plotSim(log,track_xy);
+    // plotter.plotSim(log,track_xy);
 
     double mean_time = 0.0;
     double max_time = 0.0;

C++/types.cpp

@@ -104,7 +104,7 @@ std::vector<double> stateInputToVector(const State x,const Input u)
     StateVector xv = stateToVector(x);
     InputVector uv = inputToVector(u);
 
-    Eigen::Vector<double,NX+NU> z;
+    Eigen::Matrix<double,NX+NU,1> z;
     z << xv,uv;
     std::vector<double> zv(z.data(), z.data() + z.size());