In the LaxMPC ADMM solver, A_in is used in the computation of AQiAt. However, this variable should not be used any more at this point in the code. Instead, the AB variable should be used. Same goes for B_in with BRiBt. Further ahead, A_in is also used in the computation of the Alpha matrices.
This should be fixed in this solver and in any other time-varying solver.
In the LaxMPC ADMM solver,
A_in
is used in the computation ofAQiAt
. However, this variable should not be used any more at this point in the code. Instead, theAB
variable should be used. Same goes forB_in
withBRiBt
. Further ahead,A_in
is also used in the computation of theAlpha
matrices.This should be fixed in this solver and in any other time-varying solver.