Hi,
thanks for the hints. I’ve changed the costs to be external
ocp_model.set('cost_type', 'ext_cost');
ocp_model.set('cost_expr_ext_cost', model.expr_ext_cost);
ocp_model.set('cost_type_e', 'ext_cost');
ocp_model.set('cost_expr_ext_cost_e', model.expr_ext_cost_e);After removing this line
ocp_model.set('constr_x0', x_0);I got the follwoing error
ocp_create: field constr_Jbx_0 not provided, is mandatory!
According to this post Time optimal formulation I’ve added the following lines
ocp_model.set('constr_lbx_0', [-inf;-inf]);
ocp_model.set('constr_ubx_0', [inf;inf]);
ocp_model.set('constr_Jbx_0', zeros(2)); Before I execute the ocp.solve() I set the initial condition via ocp.set('constr_x0', [-1;-1]);. Everything compiles but I’m still stuck with the status=4 (qp solver failed). Still, I sadly don’t really know where the problem could be.
Cheers