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Implement cost integration via IRK for Convex-over-nonlinear cost #976

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merged 16 commits into from
Oct 24, 2023
Merged

Implement cost integration via IRK for Convex-over-nonlinear cost #976

merged 16 commits into from
Oct 24, 2023

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FreyJo
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@FreyJo FreyJo commented Oct 23, 2023

  • Allows for Generalized GNRK integrator (GGNRK), eXtended GNRK integrator (XGNRK)

@FreyJo FreyJo mentioned this pull request Oct 23, 2023
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sandmaennchen
sandmaennchen reviewed Oct 24, 2023
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looks good, but I think we need an additional check in the interface regarding algebraic variables. Do we only neglect their hessian contribution or is the gradient incorrect too?

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sandmaennchen
sandmaennchen approved these changes Oct 24, 2023
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nice!

@sandmaennchen sandmaennchen merged commit d47b337 into acados:master Oct 24, 2023
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@sandmaennchen sandmaennchen deleted the CONL_GNRK branch October 24, 2023 10:39
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@FreyJo @sandmaennchen