acados · FreyJo · Feb 3, 2025 · Feb 3, 2025 · Feb 3, 2025 · Feb 3, 2025
diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt
@@ -28,6 +28,8 @@ acados contributor list:
 - Benjamin Michaud
 - Daniel Geweth (Robert Bosch GmbH)
 - Andrea Ghezzi (University Freiburg)
+- Josip Kir Hromatko
+- David Kiessling (KU Leuven)
 - Greg Horn
 - Jacob Grunnet
 - Leonardo Cecchin (Robert Bosch GmbH)
@@ -36,6 +38,19 @@ acados contributor list:
 - Severin Hänggi (ETH Zürich)
 - Harald Schäfer (comma.ai)
 - Sourish Pramanick
+- Akash John Subash
+- Franek Stark
+- Dirk Reinhardt
+- Henrik Hose
+- Ian McInerney
+- Jan Zwiener
+- Rudolf Reiter (University Freiburg)
+- Mohammed Hababeh
+- Alexander Sherikov
+- Ajinkya Krishnakumar
+- Federico Pizarro Bejarano
+- Anton Pozharskiy (University Freiburg)
+- Silvio Traversaro
 - Adeeb Shihadeh (comma.ai)
 - Martin Koch
 - Miralem Saljanin (Uni Stuttgart)

diff --git a/docs/list_of_projects/index.md b/docs/list_of_projects/index.md
@@ -2,28 +2,33 @@
 # Other Projects that feature `acados`
 
 ## Software interfaced with `acados`
+- [Rockit (Rapid Optimal Control kit)](https://gitlab.kuleuven.be/meco-software/rockit)
+is a software framework to quickly prototype optimal control problems.
+Notably, the software allows free end-time problems and multi-stage optimal problems.
+The software is currently focused on direct methods and relies heavily on `CasADi`.
+`acados` is interfaced as a `Rockit` solver by building on top of the Python interface of `acados`.
+
+- [TuneMPC - a Python package for economic tuning of nonlinear model predictive control (NMPC) problems.](https://github.com/jdeschut/tunempc/)
+
+- [leap-c (Learning Predictive Control)](https://github.com/leap-c/leap-c)
 
 - [openpilot](https://github
10000
.com/commaai/openpilot/)
 is an open source driver assistance system.
 [It has over 150 supported car makes and models.](https://github.com/commaai/openpilot/blob/master/docs/CARS.md)
 `acados` is used within openpilot for lateral and longitudinal MPC.
 It uses the `Cython` wrapper to the `acados` OCP solver in its software stack.
 
-- [Rockit (Rapid Optimal Control kit)](https://gitlab.kuleuven.be/meco-software/rockit)
-is a software framework to quickly prototype optimal control problems.
-Notably, the software allows free end-time problems and multi-stage optimal problems.
-The software is currently focused on direct methods and relies heavily on `CasADi`.
-`acados` is interfaced as a `Rockit` solver by building on top of the Python interface of `acados`.
+- [COFLEX - COntrol scheme for large and FLEXible wind turbines](https://github.com/TUDelft-DataDrivenControl/COFLEX)
 
-- [TuneMPC - a Python package for economic tuning of nonlinear model predictive control (NMPC) problems.](https://github.com/jdeschut/tunempc/)
+- [bioptim - a Python library for optimal control in biomechanics.](https://github.com/pyomeca/bioptim)
+
+- [acados-STM32 - acados Nonlinear MPC example (inverted pendulum control) using HPIPM on STM32H7 device (Cortex-M7 @ 400 MHz)](https://github.com/mindThomas/acados-STM32)
 
 - [OpenOCL](https://github.com/OpenOCL/OpenOCL)
 is an open-source Matlab toolbox for modeling and solving optimal control problems.
 It can use `CasADi` with IPOPT as a solver.
 It also provides a higher level interface to `acados`, which is based on the Matlab interface of `acados`.
 
-- [bioptim - a Python library for optimal control in biomechanics.](https://github.com/pyomeca/bioptim)
-
 ## Papers featuring `acados`
 ### with embedded deployment
 <!-- in collaboration with syscop -->
@@ -43,6 +48,7 @@ It also provides a higher level interface to `acados`, which is based on the Mat
 
 - [Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10049101)
 
+- [Agile perching maneuvers in birds and morphing-wing drones](https://www.nature.com/articles/s41467-024-52369-4)
 
 ### other
 - [Contraction Properties of the Advanced Step Real-Time Iteration for NMPC — IFAC World Congress 2020](https://cdn.syscop.de/publications/Nurkanovic2020b.pdf)

diff --git a/docs/python_interface/index.md b/docs/python_interface/index.md
@@ -163,6 +163,15 @@ The cython based wrapper is called [`AcadosOcpSolverCython`](#acados_template.ac
     :exclude-members:
 ```
 
+### OCP iterate classes
+``` eval_rst
+.. automodule:: acados_template.acados_ocp_iterate
+    :members:
+    :private-members:
+    :exclude-members:
+```
+
+
 
 ### `AcadosModel`
 ``` eval_rst

diff --git a/interfaces/acados_template/acados_template/acados_ocp_iterate.py b/interfaces/acados_template/acados_template/acados_ocp_iterate.py
@@ -36,6 +36,10 @@
 
 @dataclass
 class AcadosOcpFlattenedIterate:
+    """
+    This class is used to store the primal-dual iterate of an optimal control problem in a flattened form.
+    This allows faster interactions with the solver.
+    """
     x: np.ndarray
     u: np.ndarray
     z: np.ndarray
@@ -47,6 +51,10 @@ class AcadosOcpFlattenedIterate:
 
 @dataclass
 class AcadosOcpFlattenedBatchIterate:
+    """
+    Similar to :py:class:`~acados_template.acados_ocp.AcadosOcpFlattenedIterate` but with an additional field N_batch.
+    The fields x, u, z, sl, su, pi, lam are of shape (N_batch, nx_total), (N_batch, nu_total), etc.
+    """
     x: np.ndarray # shape (N_batch, nx_total)
     u: np.ndarray # shape (N_batch, nu_total)
     z: np.ndarray
@@ -59,6 +67,9 @@ class AcadosOcpFlattenedBatchIterate:
 
 @dataclass
 class AcadosOcpIterate:
+    """
+    This class is used to store the primal-dual iterate of an optimal control problem.
+    """
 
     x_traj: List[np.ndarray]
     u_traj: List[np.ndarray]
@@ -81,6 +92,9 @@ def flatten(self) -> AcadosOcpFlattenedIterate:
 
 @dataclass
 class AcadosOcpIterates:
+    """
+    This class is used to store a list of :py:class:`~acados_template.acados_ocp.AcadosOcpIterate` objects.
+    """
 
     iterate_list: List[AcadosOcpIterate]
     __iterate_fields = ["x", "u", "z", "sl", "su", "pi", "lam"]