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Add time in IRK, allow to cost integration with time dependent function #977

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Merged
merged 3 commits into from
Oct 25, 2023
Merged

Add time in IRK, allow to cost integration with time dependent function #977

merged 3 commits into from
Oct 25, 2023

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@FreyJo
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@FreyJo FreyJo commented Oct 23, 2023 •
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  • add time to IRK functions
  • add time to NONLINEAR_LS and CONVEX_OVER_NONLINEAR cost functions
  • IRK: remove old implementation to compute hessian with CasADi multiplication
  • minor changes in zoRO plots

Notes:

  • Integrator now simulates from t0 to t0+T.
  • t0 = 0 by default in integrator. Can be updated using integrator.set("t0", value).
  • In OCP: every integrator integrates from t0=0 to dt_i (ith time step in time discretization grid)
  • Time dependent cost functions are only meaningful in case cost integration is chosen.

@FreyJo FreyJo requested a review from sandmaennchen October 24, 2023 15:50
@FreyJo FreyJo force-pushed the wip_time_in_integrator branch from 6f479c5 to 40ce0e8 Compare October 25, 2023 07:41
@FreyJo FreyJo force-pushed the wip_time_in_integrator branch from 40ce0e8 to 62b86e9 Compare October 25, 2023 07:49
sandmaennchen
sandmaennchen approved these changes Oct 25, 2023
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👍

@FreyJo FreyJo merged commit 7a6c4bf into acados:master Oct 25, 2023
@FreyJo FreyJo deleted the wip_time_in_integrator branch October 25, 2023 09:14
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@sandmaennchen sandmaennchen sandmaennchen approved these changes

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@FreyJo @sandmaennchen