add multi experiments

Author: alstar8

NPField/script_d1/_l4c_generated/adj1_y_expr.pt

@@ -809,7 +809,7 @@ static void robot_model_acados_create_set_opts(robot_model_solver_capsule* capsu
     double nlp_solver_tol_comp = 0.0001;
     ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp);
 
-    int nlp_solver_max_iter = 120;
+    int nlp_solver_max_iter = 50;
     ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter);
 
     // set options for adaptive Levenberg-Marquardt Update
@@ -1174,7 +1174,7 @@ void robot_model_acados_print_stats(robot_model_solver_capsule* capsule)
         printf("stat_n_max = %d is too small, increase it in the template!\n", stat_n_max);
         exit(1);
     }
-    double stat[1936];
+    double stat[816];
     ocp_nlp_get(capsule->nlp_solver, "statistics", stat);
 
     int nrow = nlp_iter+1 < stat_m ? nlp_iter+1 : stat_m;

NPField/script_d1/_l4c_generated/jac_adj1_p_y_expr.pt

@@ -126,14 +126,14 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w04 = arg[1] ? arg[1][2] : 0;
   /* #15: output[0][7] = @4 */
   if (res[0]) res[0][7] = w04;
-  /* #16: @4 = 7.2 */
-  w04 = 7.2000000000000002e+00;
+  /* #16: @4 = 8.1 */
+  w04 = 8.0999999999999996e+00;
   /* #17: @5 = 0 */
   w05 = 0.;
   /* #18: @3 = fmax(@3,@5) */
   w03  = casadi_fmax(w03,w05);
-  /* #19: @6 = 8 */
-  w06 = 8.;
+  /* #19: @6 = 9 */
+  w06 = 9.;
   /* #20: @3 = fmin(@3,@6) */
   w03  = casadi_fmin(w03,w06);
   /* #21: @7 = (@4<=@3) */
@@ -157,8 +157,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w01  = (w07?w00:0);
   /* #28: @7 = (!@7) */
   w07 = (! w07 );
-  /* #29: @2 = 6.4 */
-  w02 = 6.4000000000000004e+00;
+  /* #29: @2 = 7.2 */
+  w02 = 7.2000000000000002e+00;
   /* #30: @6 = (@2<=@3) */
   w06  = (w02<=w03);
   /* #31: @4 = (@3<@4) */
@@ -171,8 +171,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w04  = (w06?w04:0);
   /* #35: @6 = (!@6) */
   w06 = (! w06 );
-  /* #36: @10 = 5.6 */
-  w10 = 5.6000000000000005e+00;
+  /* #36: @10 = 6.3 */
+  w10 = 6.2999999999999998e+00;
   /* #37: @11 = (@10<=@3) */
   w11  = (w10<=w03);
   /* #38: @2 = (@3<@2) */
@@ -185,8 +185,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w02  = (w11?w02:0);
   /* #42: @11 = (!@11) */
   w11 = (! w11 );
-  /* #43: @12 = 4.8 */
-  w12 = 4.8000000000000007e+00;
+  /* #43: @12 = 5.4 */
+  w12 = 5.4000000000000004e+00;
   /* #44: @13 = (@12<=@3) */
   w13  = (w12<=w03);
   /* #45: @10 = (@3<@10) */
@@ -199,8 +199,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w10  = (w13?w10:0);
   /* #49: @13 = (!@13) */
   w13 = (! w13 );
-  /* #50: @14 = 4 */
-  w14 = 4.;
+  /* #50: @14 = 4.5 */
+  w14 = 4.5000000000000000e+00;
   /* #51: @15 = (@14<=@3) */
   w15  = (w14<=w03);
   /* #52: @12 = (@3<@12) */
@@ -213,8 +213,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w12  = (w15?w12:0);
   /* #56: @15 = (!@15) */
   w15 = (! w15 );
-  /* #57: @16 = 3.2 */
-  w16 = 3.2000000000000002e+00;
+  /* #57: @16 = 3.6 */
+  w16 = 3.6000000000000001e+00;
   /* #58: @17 = (@16<=@3) */
   w17  = (w16<=w03);
   /* #59: @14 = (@3<@14) */
@@ -227,8 +227,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w14  = (w17?w14:0);
   /* #63: @17 = (!@17) */
   w17 = (! w17 );
-  /* #64: @18 = 2.4 */
-  w18 = 2.4000000000000004e+00;
+  /* #64: @18 = 2.7 */
+  w18 = 2.7000000000000002e+00;
   /* #65: @19 = (@18<=@3) */
   w19  = (w18<=w03);
   /* #66: @16 = (@3<@16) */
@@ -241,8 +241,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w16  = (w19?w16:0);
   /* #70: @19 = (!@19) */
   w19 = (! w19 );
-  /* #71: @20 = 1.6 */
-  w20 = 1.6000000000000001e+00;
+  /* #71: @20 = 1.8 */
+  w20 = 1.8000000000000000e+00;
   /* #72: @21 = (@20<=@3) */
   w21  = (w20<=w03);
   /* #73: @18 = (@3<@18) */
@@ -255,8 +255,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw,
   w18  = (w21?w18:0);
   /* #77: @21 = (!@21) */
   w21 = (! w21 );
-  /* #78: @22 = 0.8 */
-  w22 = 8.0000000000000004e-01;
+  /* #78: @22 = 0.9 */
+  w22 = 9.0000000000000002e-01;
   /* #79: @23 = (@22<=@3) */
   w23  = (w22<=w03);
   /* #80: @20 = (@3<@20) */