Ny for external cost function

Hi, I am using an external cost function, since it doesn’t fit into the standard linear least squares form. While setting up my problem, I noticed that ny is mandatory. How do I find the ny for an external cost function?

Hi Christian,

first of all, welcome to the Forum :wave:

Indeed, it should not be mandatory to set those dimensions, since it is not used in case of an external cost funciton. I just changed this here:

You can just set them to 0, if you dont want to switch acados version.

Hi FreyJo,

Thank you for your quick response. That makes sense.