acados · FreyJo · Apr 14, 2025 · Apr 8, 2025 · Apr 8, 2025 · Apr 8, 2025
diff --git a/...atlab_octave/convex_problem_globalization_needed/convex_problem_globalization_necessary.m b/...atlab_octave/convex_problem_globalization_needed/convex_problem_globalization_necessary.m
@@ -48,13 +48,11 @@
     x = SX.sym('x');
 
     % dynamics: identity
-    model.disc_dyn_expr = x;
     model.x = x;
     model.name = strcat('convex_problem_', globalization);
 
     %% solver settings
-    T = 1;
-    N_horizon = 1;
+    N_horizon = 0;
 
     %% OCP formulation object
     ocp = AcadosOcp();
@@ -63,11 +61,8 @@
     % terminal cost term
     ocp.cost.cost_type_e = 'EXTERNAL';
     ocp.model.cost_expr_ext_cost_e = log(exp(model.x) + exp(-model.x));
-    ocp.cost.cost_type = 'EXTERNAL';
-    ocp.model.cost_expr_ext_cost = 0;
 
     % define solver options
-    ocp.solver_options.tf = T;
     ocp.solver_options.N_horizon = N_horizon;
     ocp.solver_options.qp_solver = 'FULL_CONDENSING_HPIPM';
     ocp.solver_options.hessian_approx = 'EXACT';
@@ -87,7 +82,6 @@
 
     % set trajectory initialization
     ocp_solver.set('init_x', xinit, 0);
-    ocp_solver.set('init_x', xinit, 1);
 
     % solve
     ocp_solver.solve();

diff --git a/examples/acados_matlab_octave/convex_problem_globalization_needed/env.sh b/examples/acados_matlab_octave/convex_problem_globalization_needed/env.sh
@@ -0,0 +1,75 @@
+#! /usr/bin/bash
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+
+if [[ "${BASH_SOURCE[0]}" != "${0}" ]]
+then
+	echo "Script is being sourced"
+else
+	echo "ERROR: Script is a subshell"
+	echo "To affect your current shell enviroment source this script with:"
+	echo "source env.sh"
+	exit
+fi
+
+# check that this file is run
+export ENV_RUN=true
+
+# if acados folder not specified assume parent of the folder of the single examples
+ACADOS_INSTALL_DIR=${ACADOS_INSTALL_DIR:-"$(pwd)/../../.."}
+export ACADOS_INSTALL_DIR
+echo
+echo "ACADOS_INSTALL_DIR=$ACADOS_INSTALL_DIR"
+
+# export casadi folder and matlab/octave mex folder
+# MATLAB case
+export MATLABPATH=$MATLABPATH:$ACADOS_INSTALL_DIR/external/casadi-matlab/
+export MATLABPATH=$MATLABPATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/
+export MATLABPATH=$MATLABPATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/acados_template_mex/
+
+echo
+echo "MATLABPATH=$MATLABPATH"
+# Octave case
+export OCTAVE_PATH=$OCTAVE_PATH:$ACADOS_INSTALL_DIR/external/casadi-octave/
+export OCTAVE_PATH=$OCTAVE_PATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/
+export OCTAVE_PATH=$OCTAVE_PATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/acados_template_mex/
+echo
+echo "OCTAVE_PATH=$OCTAVE_PATH"
+
+# export acados mex flags
+#export ACADOS_MEX_FLAGS="GCC=/usr/bin/gcc-4.9"
+
+# if model folder not specified assume this folder
+MODEL_FOLDER=${MODEL_FOLDER:-"./build"}
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ACADOS_INSTALL_DIR/lib:$MODEL_FOLDER
+export LD_RUN_PATH="$(pwd)"/c_generated_code
+echo
+echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
diff --git a/examples/acados_matlab_octave/generic_nlp/env.sh b/examples/acados_matlab_octave/generic_nlp/env.sh
@@ -0,0 +1,75 @@
+#! /usr/bin/bash
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+
+if [[ "${BASH_SOURCE[0]}" != "${0}" ]]
+then
+	echo "Script is being sourced"
+else
+	echo "ERROR: Script is a subshell"
+	echo "To affect your current shell enviroment source this script with:"
+	echo "source env.sh"
+	exit
+fi
+
+# check that this file is run
+export ENV_RUN=true
+
+# if acados folder not specified assume parent of the folder of the single examples
+ACADOS_INSTALL_DIR=${ACADOS_INSTALL_DIR:-"$(pwd)/../../.."}
+export ACADOS_INSTALL_DIR
+echo
+echo "ACADOS_INSTALL_DIR=$ACADOS_INSTALL_DIR"
+
+# export casadi folder and matlab/octave mex folder
+# MATLAB case
+export MATLABPATH=$MATLABPATH:$ACADOS_INSTALL_DIR/external/casadi-matlab/
+export MATLABPATH=$MATLABPATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/
+export MATLABPATH=$MATLABPATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/acados_template_mex/
+
+echo
+echo "MATLABPATH=$MATLABPATH"
+# Octave case
+export OCTAVE_PATH=$OCTAVE_PATH:$ACADOS_INSTALL_DIR/external/casadi-octave/
+export OCTAVE_PATH=$OCTAVE_PATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/
+export OCTAVE_PATH=$OCTAVE_PATH:$ACADOS_INSTALL_DIR/interfaces/acados_matlab_octave/acados_template_mex/
+echo
+echo "OCTAVE_PATH=$OCTAVE_PATH"
+
+# export acados mex flags
+#export ACADOS_MEX_FLAGS="GCC=/usr/bin/gcc-4.9"
+
+# if model folder not specified assume this folder
+MODEL_FOLDER=${MODEL_FOLDER:-"./build"}
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ACADOS_INSTALL_DIR/lib:$MODEL_FOLDER
+export LD_RUN_PATH="$(pwd)"/c_generated_code
+echo
+echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
diff --git a/examples/acados_matlab_octave/generic_nlp/main.m b/examples/acados_matlab_octave/generic_nlp/main.m
@@ -47,7 +47,6 @@
 model.name = 'generic_nlp';
 model.x = x;
 model.p = p;
-model.f_expl_expr = casadi.SX.zeros(length(model.x),1);
 
 %% acados ocp formulation
 ocp = AcadosOcp();
@@ -66,27 +65,18 @@
 % initial parameter values
 ocp.parameter_values = zeros(length(model.p),1);
 
-% set additional fields to prevent errors/warnings
-ocp.cost.cost_type_0 = 'EXTERNAL';
-ocp.model.cost_expr_ext_cost_0 = 0;
-ocp.cost.cost_type = 'EXTERNAL';
-ocp.model.cost_expr_ext_cost = 0;
-
 %% solver options
-ocp.solver_options.tf = 1;
-ocp.solver_options.N_horizon = 1;
+ocp.solver_options.N_horizon = 0;
 ocp.solver_options.nlp_solver_type = 'SQP';
-ocp.solver_options.integrator_type = 'ERK';
-ocp.solver_options.sim_method_num_stages = 1;
-ocp.solver_options.sim_method_num_steps = 1;
+ocp.solver_options.qp_solver = 'FULL_CONDENSING_HPIPM'; %TODO: Change after PARTIAL_CONDENSING_HPIPM fix 
 
 %% create the solver
 ocp_solver = AcadosOcpSolver(ocp);
 
 %% solve the NLP
 % initial guess
 init_x = [2.5; 3.0];
-ocp_solver.set('init_x', repmat(init_x,1,2));
+ocp_solver.set('init_x', init_x);
 
 % set the parameters
 p_value = [1;1];
@@ -104,7 +94,7 @@
 end
 
 % display results
-x_opt = ocp_solver.get('x',1);
+x_opt = ocp_solver.get('x', 0);
 disp('Optimal solution:')  % should be [1;1] for p = [1;1]
 disp(x_opt)
 disp(['Total time: ', num2str(1e3*total_time), ' ms'])