8000 Get & set Lagrange multipliers in `AcadosCasadiOcpSolver` by Pandatheon · Pull Request #1534 · acados/acados · GitHub
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Get & set Lagrange multipliers in AcadosCasadiOcpSolver #1534

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Merged
merged 24 commits into from
Jun 4, 2025
Merged

Get & set Lagrange multipliers in AcadosCasadiOcpSolver #1534

merged 24 commits into from
Jun 4, 2025

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Pandatheon
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@Pandatheon Pandatheon commented May 27, 2025 •
edited by FreyJo
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  • Investigated the relation between lagrange multiplier in acados and casadi, which is $\lambda_{aca}^u-\lambda_{cas}^l=\lambda_{cas}$
  • Setup index list for locating variables in solution
  • Added checks on supported features: no algebraic variables and slacks yet
  • Completed get(), get_flat(), set(), set_flat() functions
  • Completed save and load functions and tested in test_casdi_formulation.py

@Pandatheon Pandatheon changed the title try adding save/load Support lagrange multiplier & Save/Load function in 'AcadosCasadiOcpSolver' Jun 4, 2025
@Pandatheon Pandatheon changed the title Support lagrange multiplier & Save/Load function in 'AcadosCasadiOcpSolver' Support lagrange multiplier & Save/Load function in AcadosCasadiOcpSolver Jun 4, 2025
@Pandatheon Pandatheon marked this pull request as ready for review June 4, 2025 09:13
@Pandatheon Pandatheon marked this pull request as draft June 4, 2025 09:13
@Pandatheon Pandatheon marked this pull request as ready for review June 4, 2025 09:14
FreyJo
FreyJo approved these changes Jun 4, 2025
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Great!
I did a number of improvements and left one TODO for you.

@FreyJo FreyJo changed the title Support lagrange multiplier & Save/Load function in AcadosCasadiOcpSolver Get & set Lagrange multipliers in AcadosCasadiOcpSolver Jun 4, 2025
@FreyJo FreyJo mentioned this pull request May 26, 2025
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@FreyJo FreyJo merged commit be57f1a into acados:main Jun 4, 2025
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@Pandatheon Pandatheon deleted the lagrange branch June 15, 2025 12:40
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@FreyJo FreyJo FreyJo approved these changes

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