Possible Error for cost_z_e in ocp_create.c

AlexWin · June 16, 2020, 10:59am

Hey guys,

I was generating C code for a MPC which should run on a dSPACE Scalexio RT system. I am using matlab.
I got the error using ocp_create: error setting cost_z_e, wrong dimension.
after looking into the ocp_create.c file, I saw that the dimension being compared to is ns. This seemd wrong to me, since it is cost_z_e not cost_z, etc. after changing this to ns_e, everything worked fine.

github.com

acados/acados/blob/8bad2e5fe07d1516856050d50ed27f779ff081f4/interfaces/acados_matlab_octave/ocp_create.c#L1383


    double *z = mxGetPr( mxGetField( matlab_model, 0, "cost_z" ) );
    for (int ii=0; ii<N; ii++)
    {
        ocp_nlp_cost_model_set(config, dims, in, ii, "z", z);
    }
}
// z_e
if (mxGetField( matlab_model, 0, "cost_z_e" )!=NULL)
{
    int matlab_size = (int) mxGetNumberOfElements( mxGetField( matlab_model, 0, "cost_z_e" ) );
    int acados_size = ns;
    MEX_DIM_CHECK_VEC(fun_name, "cost_z_e", matlab_size, acados_size);
    double *z_e = mxGetPr( mxGetField( matlab_model, 0, "cost_z_e" ) );
    ocp_nlp_cost_model_set(config, dims, in, N, "z", z_e);
}
// zl
if (mxGetField( matlab_model, 0, "cost_zl" )!=NULL)
{
    int matlab_size = (int) mxGetNumberOfElements( mxGetField( matlab_model, 0, "cost_zl" ) );
    int acados_size = ns;
    MEX_DIM_CHECK_VEC(fun_name, "cost_zl", matlab_size, acados_size);

The same error ocurred for cost_zl_e and cost_zu_e , changed these as well (lines 1406 and 1421).

Did I do a mistake before with the dimensions or how is this supposed to be?

greets, thanks for your work,
Alex

FreyJo · June 16, 2020, 12:10pm

Hi Alex,

indeed these dimension checks were wrong.
Thanks for reporting!
I just pushed the fix you suggested.

If you want to suggest another fix, please feel encouraged to submit a pull request yourself!

Best,
Jonathan

AlexWin · June 16, 2020, 12:26pm

a good feeling to help a tiny bit.

I will have a look, I am just getting used to github and open source developement.

greets