Learn the detailed implementation steps and processes of SQP-RTI

chenmingxi · December 19, 2024, 6:16am

If I want to learn the detailed implementation steps and processes of SQP-RTI, which source file in ACADOS should I look at?

kaethe · December 19, 2024, 10:56am

The main RTI function is implemented here:

github.com

acados/acados/blob/4ec4fce58b182b04ffc79485d3503ab362f495c6/acados/ocp_nlp/ocp_nlp_sqp_rti.c#L1136


      
                  // tmp_nlp_out <- nlp_out
                  copy_ocp_nlp_out(dims, nlp_out, tmp_nlp_out);
              }
          
              mem->is_first_call = false;
          
              return;
          }
          
          
          int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
              void *opts_, void *mem_, void *work_)
          {
              acados_timer timer;
              acados_tic(&timer);
          
              ocp_nlp_sqp_rti_memory *mem = mem_;
              ocp_nlp_dims *dims = dims_;
              ocp_nlp_config *config = config_;
              ocp_nlp_sqp_rti_opts *opts = opts_;
              ocp_nlp_in *nlp_in = nlp_in_;

chenmingxi · December 19, 2024, 1:03pm

thank you very much!