Different nonlinear inequality constraints for each stage


I was wondering if you will include in ACADOS in the future the possibility to set different inequality constraints for each discretization node/stage. If I am not mistaken this is not feasible in ACADO or ACADOS and currently, if one sets an inequality constraint, it must hold for all discretized states. I was able to do this with CasADi of course and FORCES PRO.


Hi CT,

this is already possible from the C interface.
However, it is not possible from our higher level interfaces (Python, Matlab/Octave).
We want to extend these interfaces to a multi-phase formulation, but it is not a priority right now.

May I ask which of the interfaces you are using?

Also, do you really need completely different nonlinear constraint functions for the stages?
For example, it is already possible to use parametric constraint functions
and set the parameter values p for each stage individually.



Going through this again, I may have come off rude by simply labelling your answer as a solution and not answering your questions. I apologize if that is the case. I was using the python interface and both your suggested solutions work for me.

Thanks for your help,

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