Hi.

First of all, thank you for some amazing work. I am a former user of ACADO who have now started to transition to ACADOS and so far I am positively surprised. Although you are still using Global Variables the code seems cleaner and I am especially fund of the support of different solver backends, the use of CasADi.

Documentation is unfortunately still not on par with Acado but I am sure it will get there soon.

One thing that I yet have to experiment with is the code generation of Acados. With ACADO code generation â€śalwaysâ€ť happened, even when using the MATLAB and Python interfaces. Is it correct to say that this is no longer the case with Acados?

Finally, to the topic/question of this post: Do you have any plans of any support for discrete dynamics?

From the problem formulation only continuous dynamics seems supported.

Supporting discrete dynamics as in the difference equation *x(k+1) = f(x(k), u(u))* seems fairly trivial to me, since it would just be a matter of disabling the discretization and shooting mechanism? But I guess the interfaces for this is not exposed?

Where would I need to look to achieve the above, given that my dynamics and constraints are all discrete and given for each of the stages in the horizon?

Best regards

Thomas Jespersen