Thanks for the info!
Changing name of the variables would solve part of the issue, we could run different solvers in parallel but not the same one.
I think a good solution would be that acados_create will not create any variables, since creating variables in a function and returning pointer to them is not the safest thing. How about acados_create and any other function would accept a structure, containing all the global data needed. Then user can define how to construct the objects and they would be just filled in acados_create, so the signature of the function would change to int acados_create(all_global_data* data) . In this way, the user have the option to decide whether to use global data structure or local.
I think the struct could look like this:
struct all_global_data{
// ** global data **
ocp_nlp_in * nlp_in;
ocp_nlp_out * nlp_out;
ocp_nlp_solver * nlp_solver;
void * nlp_opts;
ocp_nlp_plan * nlp_solver_plan;
ocp_nlp_config * nlp_config;
ocp_nlp_dims * nlp_dims;
external_function_param_casadi * forw_vde_casadi;
external_function_param_casadi * expl_ode_fun;
external_function_param_casadi * nl_constr_h_fun_jac;
external_function_param_casadi * nl_constr_h_fun;
external_function_param_casadi nl_constr_h_e_fun_jac;
external_function_param_casadi nl_constr_h_e_fun;
external_function_param_casadi * cost_y_fun;
external_function_param_casadi * cost_y_fun_jac_ut_xt;
external_function_param_casadi * cost_y_hess;
external_function_param_casadi cost_y_e_fun;
external_function_param_casadi cost_y_e_fun_jac_ut_xt;
external_function_param_casadi cost_y_e_hess;
};
What do you think?