MPCC on f1tenth car using ACADOS

I had a similar question a few days ago and this was @FreyJo’s answer: Running single functions of the auto-generated code via C-interface - #2 by FreyJo

What I ended up doing is to just extract the states of the solution and evaluate the constraint functions to get the residuals of the constraints. That way, I could easily identify what state was causing problems and narrow down my problem.