I am getting a Wrong Dimension error when I try to set
constr_ubx of the
acados_ocp solver object.
acados_ocp_model object I have set
Jbx to a single row matrix with one of the columns being 1 and the rest being zero. According to the Problem definition this should give me a state constraint on just that single state controlled by
I am succesfully able to set that single bound value for the
acados_ocp_model object, i.e:
nbx = 1; Jbx = zeros(nbx,nx); Jbx(1,2) = 1; ocp_model.set('constr_Jbx', Jbx); ocp_model.set('constr_lbx', -10); ocp_model.set('constr_ubx', 10);
But when I try to adjust the bounds dynamically during operation by setting the constraints of the
acados_ocp object it fails:
However the following works:
So it seems like
Jbx isn’t applied on the resulting solver object?
This aligns with the examples where
constr_lbx is used to specify the initial condition. But if it is supposed to work with
Jbx being specified, how would you specify the initial conditions?