seperate gpmpc casadi and acados

Federico-PizarroBejarano · Oct 22, 2024 · b31ad00 · b31ad00
1 parent 26e263c
commit b31ad00
Show file tree

Hide file tree

Showing 5 changed files with 1,544 additions and 3 deletions.
diff --git a/safe_control_gym/controllers/__init__.py b/safe_control_gym/controllers/__init__.py
@@ -76,4 +76,8 @@
 
 register(idx='lqr_c',
             entry_point='safe_control_gym.controllers.lqr.lqr_c:LQR_C',
-            config_entry_point='safe_control_gym.controllers.lqr:lqr_c.yaml')
+            config_entry_point='safe_control_gym.controllers.lqr:lqr_c.yaml')
+
+register(idx='gpmpc_casadi',
+         entry_point='safe_control_gym.controllers.mpc.gpmpc_casadi:GPMPC_CASADI',
+         config_entry_point='safe_control_gym.controllers.mpc:gpmpc_casadi.yaml')
diff --git a/safe_control_gym/controllers/mpc/gpmpc_acados.py b/safe_control_gym/controllers/mpc/gpmpc_acados.py
@@ -21,16 +21,15 @@
 from termcolor import colored
 
 from safe_control_gym.controllers.lqr.lqr_utils import discretize_linear_system
-from safe_control_gym.controllers.mpc.gp_mpc import GPMPC
 from safe_control_gym.controllers.mpc.gp_utils import (GaussianProcessCollection, ZeroMeanIndependentGPModel,
                                                        covSEard, kmeans_centriods)
 from safe_control_gym.controllers.mpc.linear_mpc import MPC, LinearMPC
 from safe_control_gym.controllers.mpc.mpc import MPC
+from safe_control_gym.controllers.mpc.gpmpc_base import GPMPC
 from safe_control_gym.controllers.mpc.mpc_acados import MPC_ACADOS
 from safe_control_gym.envs.benchmark_env import Task
 from safe_control_gym.utils.utils import timing
 
-
 class GPMPC_ACADOS(GPMPC):
     '''Implements a GP-MPC controller with Acados optimization.'''