I’m using the
ocp_qp_interface C interface and I am a bit puzzled about the names of the names of the vectors and matrices. After playing a bit around with acados and also getting things to work, I have some issues with inequality constraints for the inputs.
The documentation refers for the problem definition to this document: https://github.com/giaf/hpipm/blob/master/doc/guide.pdf
For me the following things are unclear:
- What are the (bounds?)
ug? - Do they refer to the d_n vectors in the QP formulation?
- Same for the (bounds?)
idxb. In my understanding, these are neither the bounds of the input nor state variables. But what else?
- How do
idxburelate? Are the J matrices only allowed to be diagonal and contain “ones”?
Thanks for your help