Functions
template<typename Derived >
bool	set_cost_field (AcadosSolver &solver, unsigned int stage, const std::string &field, Eigen::EigenBase< Derived > &value)
	Generic setter for the cost.

bool	set_cost_Vx (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &Vx)
	Set the Vx matrix used for 'LINEAR_LS' cost.

bool	set_cost_Vu (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &Vu)
	Set the Vu matrix used for 'LINEAR_LS' cost.

bool	set_cost_Vz (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &Vz)
	Set the Vz matrix used for 'LINEAR_LS' cost.

bool	set_cost_W (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &W)
	Set the W cost matrix used for 'LINEAR_LS' cost.

bool	set_cost_y_ref (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &y_ref)
	Set the y_ref vector for a given stage.

template<typename Derived >
bool	set_constraint_field (AcadosSolver &solver, unsigned int stage, const std::string &field, Eigen::EigenBase< Derived > &value)
	Generic setter for the constraints.

bool	set_const_C (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &C)
	Set the C matrix used by polytopic constraints.

bool	set_const_D (AcadosSolver &solver, unsigned int stage, Eigen::MatrixXd &D)
	Set the D matrix used by polytopic constraints.

bool	set_const_g_min (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &g_min)
	Set the lower bound g_min used by polytopic constraints.

bool	set_const_g_max (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &g_max)
	Set the upper bound g_max used by polytopic constraints.

bool	set_const_h_min (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &h_min)
	Set the lower bound h_min used by non-linear constraints.

bool	set_const_h_max (AcadosSolver &solver, unsigned int stage, Eigen::VectorXd &h_max)
	Set the upper bound h_max used by non-linear constraints.

template<typename T >
void	unsafe_get_stats_field (AcadosSolver &solver, const std::string &field, T &value)
	Read a given field from the solver stats (solve must be called before...)

double	get_stats_cost_value (AcadosSolver &solver)
	Retrieve the current cost value.

int	get_stats_sqp_iter (AcadosSolver &solver)
	Retrieve the SQP iteration at the last solve() call.

double	get_stats_cpu_time (AcadosSolver &solver)
	Retrieve the CPU time needed for the last solve() call.

Function Documentation

◆ set_cost_field()

template<typename Derived >

bool acados::utils::set_cost_field	(	AcadosSolver &	solver,
		unsigned int	stage,
		const std::string &	field,
		Eigen::EigenBase< Derived > &	value
	)

Generic setter for the cost.

Note: See the definition of ocp_nlp_cost_model_set in acados/interfaces/acados_c/ocp_nlp_interface.c (https://github.com/acados); Available fields: 'Vx', 'Vu', 'Vz', 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu', etc.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N]
field	Name of the field
value	Matrix or vector containing the data (not modified)

Returns: bool Status (true if all OK).

◆ set_cost_Vx()

bool acados::utils::set_cost_Vx	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::MatrixXd &	Vx
	)

Set the Vx matrix used for 'LINEAR_LS' cost.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
Vx	Matrix Vx

Returns: bool Status (true if all OK).

◆ set_cost_Vu()

bool acados::utils::set_cost_Vu	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::MatrixXd &	Vu
	)

Set the Vu matrix used for 'LINEAR_LS' cost.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
Vu	Matrix Vu

Returns: bool Status (true if all OK).

◆ set_cost_Vz()

bool acados::utils::set_cost_Vz	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::MatrixXd &	Vz
	)

Set the Vz matrix used for 'LINEAR_LS' cost.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
Vz	Matrix Vz

Returns: bool Status (true if all OK).

◆ set_cost_W()

bool acados::utils::set_cost_W	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::MatrixXd &	W
	)

Set the W cost matrix used for 'LINEAR_LS' cost.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
W	Matrix W

Returns: bool Status (true if all OK).

◆ set_cost_y_ref()

bool acados::utils::set_cost_y_ref	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::VectorXd &	y_ref
	)

Set the y_ref vector for a given stage.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
y_ref	Reference vector

Returns: bool Status (true if all OK).

◆ set_constraint_field()

template<typename Derived >

bool acados::utils::set_constraint_field	(	AcadosSolver &	solver,
		unsigned int	stage,
		const std::string &	field,
		Eigen::EigenBase< Derived > &	value
	)

Generic setter for the constraints.

Note: See the definition of ocp_nlp_constraints_model_set in acados/interfaces/acados_c/ocp_nlp_interface.c (https://github.com/acados); Available fields: 'lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D'

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N]
field	Name of the field
value	Matrix or vector containing the data (not modified, )

Returns: bool Status (true if all OK).

◆ set_const_C()

bool acados::utils::set_const_C	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::MatrixXd &	C
	)

Set the C matrix used by polytopic constraints.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
C	Matrix C

Returns: bool Status (true if all OK).

◆ set_const_D()

bool acados::utils::set_const_D	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::MatrixXd &	D
	)

Set the D matrix used by polytopic constraints.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
D	Matrix D

Returns: bool Status (true if all OK).

◆ set_const_g_min()

bool acados::utils::set_const_g_min	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::VectorXd &	g_min
	)

Set the lower bound g_min used by polytopic constraints.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
g_min	Lower bounds on polytopic constraints.

Returns: bool Status (true if all OK).

◆ set_const_g_max()

bool acados::utils::set_const_g_max	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::VectorXd &	g_max
	)

Set the upper bound g_max used by polytopic constraints.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
g_max	Upper bounds on polytopic constraints.

Returns: bool Status (true if all OK).

◆ set_const_h_min()

bool acados::utils::set_const_h_min	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::VectorXd &	h_min
	)

Set the lower bound h_min used by non-linear constraints.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
h_min	Lower bounds on non-linear constraints.

Returns: bool Status (true if all OK).

◆ set_const_h_max()

bool acados::utils::set_const_h_max	(	AcadosSolver &	solver,
		unsigned int	stage,
		Eigen::VectorXd &	h_max
	)

Set the upper bound h_max used by non-linear constraints.

Parameters

solver	Acados solver C++ wrapper handle
stage	Stage in [0;N].
h_max	Upper bounds on non-linear constraints.

Returns: bool Status (true if all OK).

◆ unsafe_get_stats_field()

template<typename T >

void acados::utils::unsafe_get_stats_field	(	AcadosSolver &	solver,
		const std::string &	field,
		T &	value
	)

Read a given field from the solver stats (solve must be called before...)

Warning: Dangerous method because the field type can be double or int!!! Prefer the other get_stats_<field> methods when possible or check the documentation.

Parameters

solver	Acados solver C++ wrapper handle
field	Name of the field to retrieve (e.g., "time_tot", "cost_value", etc.)

Returns: double Value of the field

◆ get_stats_cost_value()

double acados::utils::get_stats_cost_value ( AcadosSolver & solver )

Retrieve the current cost value.

See acados::utils::get_stats_field for implementation details.

Parameters

solver Acados solver C++ wrapper handle

Returns: double cost value

◆ get_stats_sqp_iter()

int acados::utils::get_stats_sqp_iter ( AcadosSolver & solver )

Retrieve the SQP iteration at the last solve() call.

See acados::utils::get_stats_field for implementation details.

Parameters

solver Acados solver C++ wrapper handle

Returns: int SQP iteration

◆ get_stats_cpu_time()

double acados::utils::get_stats_cpu_time ( AcadosSolver & solver )

Retrieve the CPU time needed for the last solve() call.

See acados::utils::get_stats_field for implementation details.

Parameters

solver Acados solver C++ wrapper handle

Returns: double CPU time in seconds

Functions

Function Documentation

◆ set_cost_field()

◆ set_cost_Vx()

◆ set_cost_Vu()

◆ set_cost_Vz()

◆ set_cost_W()

◆ set_cost_y_ref()

◆ set_constraint_field()

◆ set_const_C()

◆ set_const_D()

◆ set_const_g_min()

◆ set_const_g_max()

◆ set_const_h_min()

◆ set_const_h_max()

◆ unsafe_get_stats_field()

◆ get_stats_cost_value()

◆ get_stats_sqp_iter()

◆ get_stats_cpu_time()