Hello everyone,

I’m approaching in this days acados for my master thesis: a track identification for autonomous cars for my Formula SAE team. At the moment it is entirely written in CasADi, but I’m trying to migrate it under acados.

Reading the documentation however I cannot find anything for my user case: I’ve got a NLP problem composed by a cost function, a system dynamics ad a few inequality constraints. In CasADi I’ve used Direct Collocation as Discretization Method in order to obtain only a cost function and inequality constraints, that can be then solved with `ipopt`

.

What I’m asking is what I’ve to implement in acados: the starting problem (cost+dynamics+constraints) or the directly-collocated one (cost+constraints)? CasADi can handle only the latter, what acados can do?

If it’s possible, I’d like to ask a new example for `python_interface`

: a well-commented transcription of the CasADi NLP documentation, because honestly I don’t know what to write in acados_constraint objects, nor which other objects or methods to call.

Thanks for your help,

have a nice day and great Holidays!

Michael