How to generate c code for embedded control?

TUM-AAS / ml-casadi

Use PyTorch Models with CasADi and Acados

MIT License

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How to generate c code for embedded control? #1

Closed merdan-9 closed 1 year ago

merdan-9 commented 1 year ago

Hello,

I would like to use a PyTorch model as the dynamics model for Model Predictive Control in the Acados framework and subsequently deploy it to an embedded controller using C code.

What is the best practice for generating C code, and are there any restrictions on the network structure and parameter size?

Thank you for your time!

Tim-Salzmann commented 1 year ago

Hi Merdan,

Please see our new framework for exactly this use case: https://github.com/Tim-Salzmann/l4casadi

Feel free to ask questions there if you ned assistance.

Best, Tim