From 0fa9ba6fe58c8d5604b7a520b20c3306f8ffb906 Mon Sep 17 00:00:00 2001 From: Jonathan Frey Date: Fri, 14 Mar 2025 16:15:41 +0100 Subject: [PATCH] compute size of globalization memory correctly --- acados/ocp_nlp/ocp_nlp_common.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/acados/ocp_nlp/ocp_nlp_common.c b/acados/ocp_nlp/ocp_nlp_common.c index 0063a06b4f..c2fe3a1740 100644 --- a/acados/ocp_nlp/ocp_nlp_common.c +++ b/acados/ocp_nlp/ocp_nlp_common.c @@ -1571,6 +1571,9 @@ acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims // regularization size += config->regularize->memory_calculate_size(config->regularize, dims->regularize, opts->regularize); + // globalization + size += config->globalization->memory_calculate_size(config->globalization, dims); + // dynamics size += N * sizeof(void *); for (int i = 0; i < N; i++) @@ -1732,7 +1735,6 @@ ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims // globalization mem->globalization = config->globalization->memory_assign(config->globalization, dims, c_ptr); c_ptr += config->globalization->memory_calculate_size(config->globalization, dims); - // ->memory_calculate_size(config->globalization, dims); int i; // dynamics