Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

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

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

Conversation

FreyJo
Copy link
Member

@FreyJo FreyJo commented Oct 23, 2023 •
edited

  • 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.

sandmaennchen
sandmaennchen approved these changes Oct 25, 2023
View reviewed changes
Copy link
Contributor

@sandmaennchen sandmaennchen left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

👍

@FreyJo FreyJo merged commit 7a6c4bf into acados:master Oct 25, 2023
3 checks passed
@FreyJo FreyJo deleted the wip_time_in_integrator branch October 25, 2023 09:14
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@sandmaennchen sandmaennchen sandmaennchen approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

None yet
2 participants
@FreyJo @sandmaennchen