Update parameters dependent on current state

User Questions
1

Hi. I’m new to acados and have a vector of parameters which I need to update in each timestep dependent on the previous input and state. I saw that you can set the parameter p like:

for stage in range(N):
  p = ...
  ocp.set(stage, "p", p)

ocp.solve()

But as the optimization is only solved at the end of the code I don’t know how to make p dependent on ocp.get(stage - 1, "x")

Is there a way to do this? I tried just checking the value in the for loop but the return values no not make much sense.

2

Hi,

this is not possible in general.
The idea of multiple shooting is that the shooting node gaps can be closed simultaneously.
It is possible to carry out a single SQP iteration and then update the parameters as you described between two solver calls.