As of commit d8e73f9, which merges the online update of MPC ingredients for laxMPC and equMPC, the way in which the user calls the solvers from Matlab has been changes. You now have to provide the system constraints. That is, instead of solver(x, xr, ur), you have to do solver(x, xr, ur, [LBx; LBu], [UBx; UBu]), which is a worst user experience to have by default.
I open this issue to evaluate and work on improving how system constraints are handled in regards to the new online update features of the solvers and the user experience in Matlab (MEX).
The comments in pull request #28 might be useful when working on this issue.
As of commit d8e73f9, which merges the online update of MPC ingredients for laxMPC and equMPC, the way in which the user calls the solvers from Matlab has been changes. You now have to provide the system constraints. That is, instead of
solver(x, xr, ur), you have to dosolver(x, xr, ur, [LBx; LBu], [UBx; UBu]), which is a worst user experience to have by default.I open this issue to evaluate and work on improving how system constraints are handled in regards to the new online update features of the solvers and the user experience in Matlab (MEX).
The comments in pull request #28 might be useful when working on this issue.