MEX: fix generic_external_cost example

acados · Mar 5, 2021 · 74d3e69 · 74d3e69
1 parent c4bf95d
commit 74d3e69
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/interfaces/acados_matlab_octave/acados_ocp.m b/interfaces/acados_matlab_octave/acados_ocp.m
@@ -90,7 +90,10 @@
                 elseif (strcmp(obj.model_struct.cost_type, 'nonlinear_ls'))
                     obj.model_struct.cost_expr_y_0 = obj.model_struct.cost_expr_y;
                 elseif (strcmp(obj.model_struct.cost_type, 'ext_cost'))
-                    obj.model_struct.cost_expr_ext_cost_0 = obj.model_struct.cost_expr_ext_cost;
+                    obj.model_struct.ext_fun_type_0 = obj.model_struct.ext_fun_type;
+                    if strcmp(obj.model_struct.ext_fun_type_0, 'casadi')
+                        obj.model_struct.cost_expr_ext_cost_0 = obj.model_struct.cost_expr_ext_cost;
+                    end
                 end
                 if (strcmp(obj.model_struct.cost_type, 'linear_ls')) || (strcmp(obj.model_struct.cost_type, 'nonlinear_ls'))
                     obj.model_struct.cost_W_0 = obj.model_struct.cost_W;

diff --git a/interfaces/acados_matlab_octave/generate_c_code_ext_cost.m b/interfaces/acados_matlab_octave/generate_c_code_ext_cost.m
@@ -92,7 +92,7 @@ function generate_c_code_ext_cost( model, opts, target_dir )
     ext_cost_fun_jac.generate([model_name,'_cost_ext_cost_fun_jac'], casadi_opts);
 end
 
-if isfield(model, 'cost_expr_ext_cost_0')% && strcmp(model.ext_fun_type_e, 'casadi')
+if isfield(model, 'cost_expr_ext_cost_0') && strcmp(model.ext_fun_type_0, 'casadi')
     ext_cost_0 = model.cost_expr_ext_cost_0;
     % generate jacobian, hessian
     [full_hess, grad] = hessian(ext_cost_0, vertcat(u, x));