ERK default precision?

Hi !

I’m currently benchmarking ACADOS and IPOPT on simple OC problems. In order to operate a fair comparison between the 2, I was wondering what is the default precision of the ERK integrator implemented in ACADOS ?
In Casadi, it’s 20 finite elements, but it is possible to modify it.
And secondly, is it/will it be possible to modify it via the python interface ?

Thanks a lot !

Fb

Hi,

you can change the number of stages, i.e. size of the Butcher table for ERK to 1, 2 and 4.
Also you can change the number of steps, which is probably what you call “finite elements” to any integer.
These options are in the AcadosOcpOptions

They cannot be modified after the ocp solver is created though.

Best,
Jonathan