Define variable ocp.solver_options.tf

MohsenMech · December 28, 2024, 12:11pm

Hi everyone,

I am a new Acados user , and I use python programming language. I defined a MPC problem but based on the real data that I have my time step is variable and I want to know how I can define variable solving time for my ocp solver. If I am not mistaken in initialization we define time horizon via “” ocp.solver_option.tf “” , since my time step is changing the value for “ocp.solver_option.tf” should change each time step. how can I change this parameter after initialization ?

kaethe · December 28, 2024, 6:46pm

Hi Mohsen

tf is the total length of the prediction horizon.

Please check this example on how to set a nonuniform discretization grid:

github.com

acados/acados/blob/master/examples/acados_python/furuta_pendulum/main_closed_loop.py

# -*- coding: future_fstrings -*-
#
# Copyright (c) The acados authors.
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

This file has been truncated. show original

Best, Katrin