search

acados / acados

Fast and embedded solvers for nonlinear optimal control
Other
824 stars 249 forks source link

Small change to HPIPM API #1019

Closed giaf closed 9 months ago

giaf commented 10 months ago

There was a small change in the HPIPM API for some setters related to x0 elimination https://github.com/giaf/hpipm/commit/2b18b0f419046cb00806520e2cf4bd691d149277

Next time HPIPM is update in acados, there will need to be made a small change to the sources acados/ocp_qp/ocp_qp_partial_condensing.c acados/ocp_qp/ocp_qp_full_condensing.c

FreyJo commented 9 months ago

Thanks for the heads-up! Although I honestly don't see which convention was fixed with that change in HPIPM.

giaf commented 9 months ago

All other setters in HPIPM have the value before and the struct as last argument. Also the value is passed by reference, so there can be a global setter using a field struct on top of the tailored setters, making use in python or matlab interfaces easier.