unfortunately I am having troubles adding slack variables to my OCP and I wanted to report that issue.
In my formuation I have used
constr_expr_h so far for bounding one state and the input. This caused the automatic reformulation of the bounds to bounds on
Now I want to add slacks to my OCP. Due to the automatic reformulation I am unable to use
constr_Jsh, as acados returns the error that the dimension of
constr_Jsh should be 0x1. This seems legit, as
constr_expr_h has been reformulated.
Therefore I reformulated my OCP so that I use
constr_Jbu right away. Now, as soon as I try to set
constr_Jsbx Matlab crashes in the compilation of the solver. According to Matlab’s log, the crash happens in
I am using acados version with tag 016. The minimal example will follow in the next post