measure postprocessing time

remote_control/casadi_opt.py

@@ -139,6 +139,7 @@ class OpenLoopSolver:
 
 
     def solve(self, x0, target, obstacles):
+        tstart = time.time()
         # alternative solution using multiple shooting (way faster!)
         self.opti = Opti() # Optimization problem
 
@@ -163,10 +164,6 @@ class OpenLoopSolver:
         #self.opti.set_initial(speed, 1)
         #self.opti.set_initial(T, 1)
 
-
-
-
-        tstart = time.time()
         x = SX.sym('x')
         y = SX.sym('y')
         theta = SX.sym('theta')
@@ -259,6 +256,7 @@ class OpenLoopSolver:
         tend = time.time()
         print("solving the problem took {} seconds".format(tend - tstart))
 
+        tstart = time.time()
         self.opti_x0 = sol.value(self.opti.x)
         self.opti_lam_g0 = sol.value(self.opti.lam_g)
 
@@ -266,6 +264,8 @@ class OpenLoopSolver:
         #u_opt_2 = map(lambda x: float(x), [u_opt[i * 2 + 1] for i in range(0, 60)])
         u_opt_1 = sol.value(self.U[0,:])
         u_opt_2 = sol.value(self.U[1,:])
+        tend = time.time()
+        print("postprocessing took {} seconds".format(tend - tstart))
 
         return (u_opt_1, u_opt_2, sol.value(posx), sol.value(posy))