C interface: is only disc_dyn_fun_jac needed for discrete model?

Hi,

I need to use user-provided discrete model and jacobians, so I have to use c interface. In the c interface examples, only disc_dyn_fun_jac is set and disc_dyn_fun is left aside. I would like to know if disc_dyn_fun is needed as well.

Hi,
disc_dyn_fun is only needed when you want to use some globalization in acados.
The _hess function would be needed if you want to use exact hessians for the dynamics.