I have generated my OCP API for my C code using the python interface. To change the time steps during runtime (without re-generating / recompiling), I previously just used
rf_model_acados_create_with_discretization
I now want to use a non-uniform discretization, i.e., larger time steps towards the end of the horizon. Is it sufficiently supported by this function, can I just call it with a non-uniform grid? Or do I have to change anything else with regard to the generated C functions?