Ny for external cost function

User Questions
1

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?

2

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:
https://github.com/FreyJo/acados/pull/27/commits/24382c7d69ab8f4a20f00bc4e06d3c96d6cb60e2

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

3

Hi FreyJo,

Thank you for your quick response. That makes sense.