AcadosCasadiOCP: Add support for soft nonlinear constraints
#1585
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FreyJo
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Jul 9, 2025
interfaces/acados_template/acados_template/acados_casadi_ocp_solver.py
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interfaces/acados_template/acados_template/acados_casadi_ocp_solver.py
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…ive code, write set() function for soft
FreyJo
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Jul 15, 2025
interfaces/acados_template/acados_template/acados_casadi_ocp_solver.py
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| lb_slack_node.append(0 * ca.DM.ones((dims.ns_0, 1))) | ||
| ub_slack_node.append(np.inf * ca.DM.ones((dims.ns_0, 1))) | ||
| elif i < N_horizon and dims.ns: | ||
| lb_slack_node.append(0 * ca.DM.ones((dims.ns, 1))) |
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Instead of the zeros it should be:
It should be [lsbu, lsbx, lsg, lsh, lsphi].
Off course those values are zero in the vast majority of cases though.
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AcadosCasadiOCPget()andset()for slack variables inAcadosCasadiOcpSolver