Hi.
Not sure if I have discovered a bug or unintended usage of the MATLAB interface (still haven’t got time to investigate). But here follows my observations:
- When I call
ocp.generate_c_code
I get the following errorReference to non-existent field 'dim_nbxe_0'
from the scriptset_up_acados_ocp_nlp_json
. I’m using the latestmaster
branch. - Why can’t
constr_lbx
andconstr_ubx
be used with stage = N without settingconstr_Jbx_e
,constr_lbx_e
andconstr_ubx_e
? - It seems like the state and input inequality constraints for the terminal stage is not defined/set with
constr_lbx
andconstr_ubx
?
Furthermore it would be nice if the problem formulation document (PDF) on GitHub could be updated to reflect the discretized problem formulation (i.e. cost and constraints for each stage) similar to the picture below taken from the ACADOS paper.
Best regards
Thomas Jespersen