8000 Python: Fix `constraints_get` by FreyJo · Pull Request #1556 · acados/acados · GitHub
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Python: Fix constraints_get #1556

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Merged
merged 2 commits into from
Jun 23, 2025
Merged

Python: Fix constraints_get #1556

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50e3b08
Python: use ocp_nlp_constraint_dims_get_from_attr in constraints_get
FreyJo Jun 23, 2025
eb15437
C: remove constraints fields from ocp_nlp_cost_dims_get_from_attr
FreyJo Jun 23, 2025
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10 changes: 0 additions & 10 deletions interfaces/acados_c/ocp_nlp_interface.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1172,16 +1172,6 @@ void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims,
dims_out[0] = dims->nx[stage] + dims->nu[stage];
dims_out[1] = dims->nx[stage] + dims->nu[stage];
}
else if (!strcmp(field, "C"))
{
dims_out[0] = dims->ng[stage];
dims_out[1] = dims->nx[stage];
}
else if (!strcmp(field, "D"))
{
dims_out[0] = dims->ng[stage];
dims_out[1] = dims->nu[stage];
}
else if (!strcmp(field, "scaling"))
{
dims_out[0] = 1;
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2 changes: 1 addition & 1 deletion interfaces/acados_template/acados_template/acados_ocp_solver.py
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Expand Up @@ -1959,7 +1959,7 @@ def constraints_get(self, stage_: int, field_: str) -> np.ndarray:
dims_ = np.zeros((2,), dtype=np.intc, order="C")
dims_data = cast(dims_.ctypes.data, POINTER(c_int))

self.__acados_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
self.__acados_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field, dims_data)

# check whether field is vector-valued
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