ROADMAP.md

Roadmap

• Test 32 bit
• Test OOQP

core

• propagate cost in integrator
  • or: add support for quadrature state, separate dimension in integrator and OCP solver
• stage transition functions for changing model dimensions

documentation

• provide OCP NLP formulation that is handled by ocp_nlp as a formula
  • closely stick to setter names!
• Windows Matlab, reiterate, look into Visual C
• Windows Python
• MacOS Matlab

ocp_nlp

• partial tightening
• blockSQP (https://github.com/djanka2/blockSQP)
• RTI implementation similar to ACADO
• support cost on z for external, NLS

sim

• collocation integrators Radau
  • NOTE: currently always Gauss(-Legendre) Butcher tables
    • A-stable, but not L-stable
    • order is 2 * num_stages
  • implement also Radau IIA collocation methods
    • L-stable
    • order is 2 * num_stages - 1
• GNSF Hessians

DONE

• closed loop example MPC + MHE
• Templates: avoid global memory
• add support for manual model functions -- partly done: external cost and discrete dynamics

C

• split ocp solve into prepare and feedback

build

• cmake: add openmp parallelization

matlab interface

• detect dimensions
• detect slack dimensions
• structure detections for constraints
• getting started folder
• add Mex templating support for: ( in prioritized order )
  • nonlinear least-squares
  • Vz
  • exact Hessian
  • external cost
  • GNSF
  • discrete dynamics
• separate acados_ocp() into generating the C object and setting the numerical data
• support nonuniform grids
• OCP with DAEs

Python interface

• exact hessian
• regularization
• discrete dynamics