Mhe failure for manifold constraints

LIDAN · October 18, 2024, 7:33am

error: ocp_nlp_constraints_bgh_compute_fun: not implemented yet for nz>0,
For MHE problem, I tried to exert state constraints (on manifold, such as ca.dot(q,q)-1=0) for all stages, but it seems only terminal constraints can work, otherwise the above error appears

ZandorT · October 21, 2024, 9:31pm

Commenting to follow along, also worth having a look at:

Moving Horizon Estimation for Inertial Motion
Tracking
Algorithms and Industrial Applications

Fabian GIRRBACH

specifically section 5.2 discusses quaternion and options to stabilize it.

kaethe · October 25, 2024, 2:53pm

Hi

welcome to the acados forum!

Can you provide a few more details regarding your problem formulation? Are you using algebraic variables and with globalization? This combination is not really tested (yet).

Either you try without globalization or you comment the check here:

github.com

acados/acados/blob/5e29aca82382ea6459b2aafe717989226f489ca6/acados/ocp_nlp/ocp_nlp_constraints_bgh.c#L1553


      
          
          // general linear
          blasfeo_dgemv_t(nu+nx, ng, 1.0, memory->DCt, 0, 0, ux, 0, 0.0, &work->tmp_ni, nb, &work->tmp_ni, nb);
          
          // nonlinear
          if (nh > 0)
          {
              if(nz>0)
              {
                  // TODO
                  printf("\nerror: ocp_nlp_constraints_bgh_compute_fun: not implemented yet for nz>0\n");
                  exit(1);
              }
          
              struct blasfeo_dvec_args x_in;  // input x of external fun;
              x_in.x = ux;
              x_in.xi = nu;
          
              struct blasfeo_dvec_args u_in;  // input u of external fun;
              u_in.x = ux;
              u_in.xi = 0;

Best, Katrin

LIDAN · October 26, 2024, 1:31am

thanks for your replies, but emmm I wonder why the acados does not work for the problem I constructed

LIDAN · October 26, 2024, 1:38am

thanks for your reply, and I succeeded in solving without globalization