I am currently using ACADOS (via Python Interface) for implementing a NMPC trajectory planner. I would like to use this controller in my C++ environment. Is there a minimal example on how to use the implemented ACADOS controller with C++.
All the best,
First, welcome to the Forum!
If you are using acados from Python, notice that you generate a folder
c_generated_code, which contains the model functions, the acados OCP solver for your OCP formulation and a Makefile.
Since C is a subset of C++, you should be able to include this into your C++ environment without too much difficulty.
If there are specific problems that you have to spend significant time on, please keep us posted.