Output Lagrange multipliers from the Simulink interface

coin-or / qpOASES

Open-source C++ implementation of the recently proposed online active set strategy

GNU Lesser General Public License v2.1

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Output Lagrange multipliers from the Simulink interface #146

Closed Giapducnguyen closed 3 months ago

Giapducnguyen commented 3 months ago

Dear Authors and the Community,

I would appreciate it if anyone could guide me on modifying the file named "qpOASES_SQProblem.cpp" to output Lagrange multipliers. Another request is to identify the indices for variable bounds and constraints inside the outputted Lagrange multiplier of the Simulink interface. I could not find this information in the provided examples and manual.

Thank you very much in advance.

Giapducnguyen commented 3 months ago

Those who have the same problems can refer to the following images. Hopefully, the modification is correct. Additionally, the Lagrange multiplier order is as [variable bounds; constraints].