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alexliniger / MPCC

Model Predictive Contouring Controller (MPCC) for Autonomous Racing
Apache License 2.0
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HpipmIterface::setSoftConstraints #49

Closed DreamonZhu closed 4 years ago

DreamonZhu commented 4 years ago

Hi, https://github.com/alexliniger/MPCC/blob/3ec7805e7a176c57250c1a414a6d2b871e472d74/C%2B%2B/Interfaces/hpipm_interface.cpp#L182 why don't we just push index j into idx_s but have j plus nbu[i] and nbx[i]?

alexliniger commented 4 years ago

because this is the index of the constraint and by the implementation of hpipm are the indexes of the soft constraints first states then inputs then polytopic constraints. So index 0 would correspond to have a soft constraint on the bound of the first state. I hope this makes sense otherwise you need to read the hpipm documentation