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 âalwaysâ 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