setting custom matrix constraints
I've been trying to create a MIP that would optimize the trajectory of multiple agents. In order to come up with these trajectories, I needed to calculate velocities from actions and constrain those velocities by the variable max_v. So basically, I'm converting accelerations to velocities.
For each agent and axis(x,y) I created a variable of type MVar with shape T (timesteps)
I have a function called compute_v which takes in accelerations and spits out the velocity at every timestep using a cumulative sum.
def compute_v(actions):
return np.cumsum(actions)*delta_tthen I loop over each agent and each axis and try to execute the following code
m.AddConstrs(compute_v(axis_actions) <= np.ones(T)*max_v)However, that gives me gurobipy.GurobiError: Constraint has no bool value (are you trying "lb <= expr <= ub"?)
If I do AddConstr and pass in compute_v(axis_actions)[0] for the left hand side, it doesn't work because I think it only adds the first constraint.
Finally I tried converting the cumsum into a matrix and tried addmconstrs
m.addMConstrs(np.tril(np.ones((T, T))), axis_actions, "<=",np.ones(T) * max_v)And I think this worked but in the future I might be making more complicated functions and I don't want to come up with a matrix form every time. Is there a way to come up with a cleaner way to do this using AddConstr? Can someone explain the index error I get? If that doesn't work, is there a way to get the A matrix of a Gurobi linear expression?
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Can you post the code you use to define \( \texttt{delta_t} \), \( \texttt{axis_actions} \), and \(\texttt{max_v}\)?
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