Hello,
I noticed that at least some globalization parameters are not being parameterized correctly when using the new MATLAB interface version of acados. I am planning to transition to the new MATLAB interface style, but for now I am using legacy functions.
Below are the steps to reproduce the problem.
- Use commit d49d47e0 from Nov 22, 2024
- Run one of the built in legacy interface examples, e.g. examples\acados_matlab_octave\legacy_interface\getting_started\extensive_example_ocp.m. Prior to running add a globalization related parameter, e.g. add
ocp_opts.set('full_step_dual', 1);at line 241. - Inspect the generated C-code: c_generated_code\acados_solver_pendulum.c. Observe that
int globalization_full_step_dual = 0;in the generated code, which contradicts to the way how the parameter is configured in MATLAB.
I think this only happens to globalization-related parameters, but have only tested a few parameters.
I tired both ocp_opts.set('full_step_dual', 1); and ocp_opts.set('globalization_full_step_dual', 1);
Please let me know if I am missing something.
Many thanks.