Pariterre

Hi there! I've had a lot of fun cracking your CrackMe. Thanks for that! In your makefile, you are using no optimization -O1. While this create a more straight forward...

Acados on conda-forge

12

Hi there! I am writting a biomechanics frame work for optimal control called BiorbdOptim. It is based on CasADi and biorbd. I would be interested to support acados as well...

Check for Conditioning of the problem

5

Check if the Jacobian of the cost function and the Jacobian and Hessian of the constraints is well-conditioned. Otherwise raise a warning (flag in solve, or in an ocp.method)

Plot of contacts

6

When using ControlType.LINEAR_CONTINOUS, the plot is not actually properly integrated

Plot parameters

1

Plot the parameters evolution over iterations

3D visualisation during optimization

3

New graph? BiordOptim?

Lagrange objective should be calculated at each integration steps

3

Currently the objective Lagrange functions (and constraint for MINIMIZE) are only computed at the nodes (as for the continuity constraints. However, this approximation may gets ugly if the function is...

NaN in ACADOS

1

NaN should be dealt like IPOPT

Multiphase in ACADOS

2

This requires to stack the problem in a single phase (that is having the same number of shooting point in each "phase")