Time varying constraints, reference etc with acados in matlab

[FreyJo]

@SofieB

Sorry if this might be actually obvious, but I do not really understand this point:
The cost_expr_y specified in the model file was never handed to the ocp as far as I can see.
So, do I oversee something? Or is y=[x,u] and the respective y_ref the default? Or what else?

I think the default cost type in Matlab is auto where we try to detect the cost type automatically. I think there should be some output info in the example about this.

@SofieB

So essentially, one needs to “initialize” all bounds etc he wants to use already in ocp_model, e.g. like this:

Yes, just that you cannot use inf but that has been discussed in other threads in the forum.