Hi
I am currently working on complex robot dynamic systems with high dof, which casadi cannot properly handle the modelling of. I need to use external dynamic libraries for the modelling part, but the optimization capability of acados is quite important as well. Can I be like, extract the optimization part efficiently and incorporate it in my own code?
Hi,
it is a bit unclear what this means and how one could achieve it.
acados as an NLP solver for OCP structured problems needs to have access to the nonlinear functions and its derivatives.
This is typically done via CasADi function generation.
If you have another modelling tool, you could try to use or adapt the acados external function interface.
I am marking this as a “User Question”, since the feature request is not clear.
Best,
Jonathan