Hi,
we are glad that you want to start using acados.
Let me try to answer your questions directly.
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Right now, the simplest way to tinker with the acados algorithms is using it through the matlab MEX or the python interface.
To use acados on an embedded device, the most convenient way is to generate templated code from a json file.
The json file workflow is currently only supported from Python, but we are currently working on an automatic json file generation from the matlab MEX interface.
Thus, I suggest you to first play around with acados from Matlab.
https://docs.acados.org/interfaces/index.html
To update numeric data, such as bound values and weighting matrices online, you will have to use the C API. -
acados implements SQP-like algorithms that can be used with a variety of settings.
It implements the numerical methods and it should be enough for you to use it with specific options.
Of course you are free to contribute features to acados or implement your own numerical method.
Best,
Jonathan