Hi All,
I am little bit confused about the way one can use
int <model_name>_acados_update_params(nlp_solver_capsule * capsule, int stage, double *p, int np)
I have a very simple discrete dynamics:
x[t+1]=x[t]+delta_t*u
where x is the state of the system, u is the control input and delta_t is the time step. I want to change delta_t in the generated c++ code… Can one use this function?
I have seen that this parameter is also needed to be updated in <model_name>_dyn_disc_phi_fun_jac and <model_name>__dyn_disc_phi_fun and <model_name>_dyn_disc_phi_fun_jac_hess… But, does all of these can be updated automatically by using <model_name>_acados_update_params?
Thanks a lot 