Setting parameters for terminal costs / constraints

User Questions
1

Hi,

how should one set parameters for the terminal stage of optimization? My first assumption was

for ii = 0 : (N - 1)
    ...
    ocp.set('p', p, ii);  // parameters for Lagrange objective
end

ocp.set('p', p, N);   // parameters for Mayer objective (terminal costs)

However, the last statement crashes Matlab if I use the cost module “ext_cost” (casadi expression). As a workaround I have to set the terminal parameters with

ocp.set('p', p);

before the loop, which is not very intuitive. Is this the intended workflow or is the Matlab crash a bug?

BR
Martin

2

Hi Martin,

there was indeed a bug, which I just fixed:

It is merged into acados/master.
Note that you have to recompile the Matlab interface, which can be done by removing the build folder in your example directory.

Best,
Jonathan

3

Hi Jonathan,

thanks for the quick fix.

Martin