How get middle variable in model

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1

Hi :wave:

If you have an issue with acados and are looking for help here, please mention:

  • What interface of acados are you using (`C and Python)?
    there is a part of my model code
    f_expl = vertcat(
        sdota,#s'
        v * sin(alpha + C1 * delta), #n'
        # v * C2 * sin(C1 * delta) - params[0][current_idx] * sdota,#alpha' 
        v * tan(delta) / WHEELBASE - params[0][current_idx] * sdota,#alpha' 
        a_car * cos(C1 * delta),
        ddelta,
        5
    )

    model.f_impl_expr = model.xdot - f_expl
    model.f_expl_expr = f_expl

    #constrains
    # past speed info
    time_step_idx = floor(time_step)
    time_s = params[4][time_step_idx]
    obs_need_idx = ceil(s / time_s * time_step_idx *2) # 预测是100ms，因此*2
    # past_step info
    past_time_step_idx = if_else(time_step_idx>0,time_step_idx - 1, time_step_idx)
    past_time_s = params[4][past_time_step_idx]
    past_obs_need_idx = ceil(s / time_s * past_time_step_idx *2)
    ...

i use python generate c_generated_code，so how can i “past_time_s” info in every step?
thanks!

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Thanks for using acados :pray:

2

no persion replay me？

3

you did not phrase your question well.