Allow solver_options.N_horizon=0
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…ints, also add N_horizon == 0 checks until setting of integrator time
…gs that should not be freed
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- examples/acados_matlab_octave/convex_problem_globalization_needed/convex_problem_globalization_necessary.m: Language not supported
- examples/acados_matlab_octave/convex_problem_globalization_needed/env.sh: Language not supported
- examples/acados_matlab_octave/generic_nlp/env.sh: Language not supported
- examples/acados_matlab_octave/generic_nlp/main.m: Language not supported
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interfaces/acados_template/acados_template/c_templates_tera/acados_solver.in.c:148
- The return statement after exit(1) in update_time_steps() is unreachable and can be removed for clarity.
return -1;
interfaces/acados_template/acados_template/c_templates_tera/acados_solver.in.c
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Please someone look at the maratos example, it fails :) |
FreyJo
approved these changes
Apr 12, 2025
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Very good!
It is not clear what is going on in the maratos example after looking into it a bit.
I refactored it to easily switch between the old and new formulations and to log iterates without for looping.
The difference in behavior should be investigated a bit more closely later.
interfaces/acados_template/acados_template/c_templates_tera/CMakeLists.in.txt
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This PR modifies the Matlab and Python interfaces to allow formulating optimization problems without any shooting-structure and
solver_options.N_horizon=0.If
solver_options.N_horizon=0, only the terminal costs and constraints will be regarded.In particular, also no dynamics, other costs, and constraints have to be defined.
We have also updated some examples to use this feature instead of the workarounds.