Hi, I’m using the python interface of acados to do NMPC.
I’m wondering if it is possible to make use of SQP_RTI directly from python to control my robot.
Right now I’m just simulating my system following this example
# preparation rti_phase acados_solver.options_set('rti_phase', 1) status = acados_solver.solve() # update initial condition acados_solver.set(0, "lbx", x0) acados_solver.set(0, "ubx", x0) # feedback rti_phase acados_solver.options_set('rti_phase', 2) status = acados_solver.solve()
I assume that the two phases refer to the preparation phase of RTI (to do before the current state is available) and the second phase is when the solution is “adapted” to the current state. Is it correct?
In my simulations I find that the second phase is the most time consuming, I would expect the opposite, but is it something you would deem normal?