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- 14 commits
- 67 files changed
- 3 contributors
Commits on Jul 5, 2024
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- deprecate `get_default_simulink_opts`, use `get_simulink_default_opts` instead - return `x0` if set
Commits on Jul 8, 2024
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This PR addresses some of the points listed in #1140 (and others) and updates the documentation in several places. --------- Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com> Co-authored-by: sandmaennchen <katrin.baumgaertner@posteo.de>
3 people authoredJul 8, 2024
Commits on Jul 9, 2024
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Remove
tslacks fromocp_nlp_out(#1148)The slacks `t` that were used to slack the inequality constraint values are actually not needed in an NLP solver and are thus removed in this PR. Instead of using `t`, we now directly evaluate inequality residual using the function evaluations. This results in consistent inequality residuals and will help future work on globalization. Related interface functionality such as getters and setters for `t` and `initialize_t_slacks` have been removed.
Commits on Jul 10, 2024
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Remove main mex template (#1149)
These files are outdated, there were used to test the template based solver in Maltab without really interacting with it, before the MEX interface was completely ported to the template backend in bb9f1b2 These files seem to be broken from what is reported in https://discourse.acados.org/t/building-issue-configurationdesk-2022-a/1677
Commits on Jul 11, 2024
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Update problem formulation description (#1150)
Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
Commits on Jul 15, 2024
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This PR addresses an issue which caused the SQP solver to always return status 4, if it was returned once. This was introduced in #1057 Added a test to check that the OCP solver can recover from such a situation.
Commits on Jul 16, 2024
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Cmake for multi-phase OCP solver (#1157)
This PR adds the cmake build systems for the multi-phase OCP (MOCP) solver in preparation for MOCP solvers in MATLAB.
Commits on Jul 17, 2024
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Simulink interface: add initialization functionalities and tests (#1158)
- add input `pi_init` to initialize multipliers of equality constraints - add output `pi_all` - add input `ignore_inits` to ignore initialization inputs and switch to internal warm start - Test all initializations and combinations with `ignore_inits` and `reset_solver` in Simulink on Github actions
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Python interface: default for
sim_method_num_stages(#1159)BREAKING: change default for `sim_method_num_stages` to 4 in `AcadosSim` to be consistent with the default in `AcadosOcp`
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