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zh!%_03AU^$6TKUoslp+ta?UMeyeE)*ZPYZo)AMmX=oYuo7SNd;;&JYp0ury5+6vc% z7trBz3^3O3U<0X~Vsd>rdF%VyFRp+o!tawv{z-ZinT{qnx6?JKEzqZo1+;Sj>s3Z5z5awdQ;KxKz;gd@kUGv}?9dMdJ5ivEe`A%pm3QCC@ zOGqdv*k$pP5KeNBQ@^{PzCiV`{^1~CP6|8Wz!^5YeBsGZP@}soBQ0l93b=@ZYik-J zBJEG>D0mBK?uQb%$QkbZ9cZt_B#R>FOJUU<=;XxY58{P{a-xdKBAP1U5C7$W;brvd zDIU7*R>NaOm)Ys$wOkE9Zmi=6aaEGN)jAl*Z!;^z Date: Fri, 29 Jun 2018 16:55:39 +0200 Subject: [PATCH 2/2] Updated guide.tex based on Facebook chat with @giaf --- doc/guide.tex | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/doc/guide.tex b/doc/guide.tex index 89964638..e1d4ffdd 100644 --- a/doc/guide.tex +++ b/doc/guide.tex @@ -72,9 +72,15 @@ \chapter{OCP QP} \end{align*} where $u_n$ are the control inputs, $x_n$ are the states, $s^l_n$ ($s^u_n$) are the slack variables of the soft lower (upper) constraints. The matrices $J_{\dots,n}$ are made of rows from identity matrices. +The matrices $J_{s,\dots}$ are made of rows from an identity matrix of size $n_s$ or of zeros. +So there may well be no soft constraints ($n_s=0$), or only on some constraints (and then the other constraints have a row of zeros in $J_{s,\dots}$.) +\texttt{idxs[j]=i} means that the element \texttt{[i,j]} of the stacked $J_{s,\dots}$ matrix is one. + Note that all quantities can vary stage-wise. Furthermore, note that the constraint matrix with respect to $u$ and $x$ is the same for the upper and the lower constraints. + + \begin{verbatim} int d_memsize_ocp_qp(int N, int *nx, int *nu, int *nb, int *ng, int *ns); \end{verbatim}