From d9bc195a93e0e1aca50a2d47f29cd99286051ff4 Mon Sep 17 00:00:00 2001 From: oscardegroot Date: Fri, 22 Nov 2024 16:31:30 +0100 Subject: [PATCH] Fix updated cpp interface acados. --- mpc_planner_solver/src/acados_solver_interface.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/mpc_planner_solver/src/acados_solver_interface.cpp b/mpc_planner_solver/src/acados_solver_interface.cpp index 1e37f30..97d2b51 100644 --- a/mpc_planner_solver/src/acados_solver_interface.cpp +++ b/mpc_planner_solver/src/acados_solver_interface.cpp @@ -114,21 +114,21 @@ namespace MPCPlanner status = Solver_acados_solve(_acados_ocp_capsule); - ocp_nlp_get(_nlp_config, _nlp_solver, "time_tot", &_info.elapsed_time); + ocp_nlp_get(_nlp_solver, "time_tot", &_info.elapsed_time); _info.solvetime += _info.elapsed_time; _info.min_time = MIN(_info.elapsed_time, _info.min_time); - ocp_nlp_get(_nlp_config, _nlp_solver, "qp_status", &_info.qp_status); + ocp_nlp_get(_nlp_solver, "qp_status", &_info.qp_status); if (status != ACADOS_SUCCESS && _info.qp_status != 0) break; } - ocp_nlp_get(_nlp_config, _nlp_solver, "nlp_res", &_info.nlp_res); + ocp_nlp_get(_nlp_solver, "nlp_res", &_info.nlp_res); // Compute and retrieve the cost ocp_nlp_eval_cost(_nlp_solver, _nlp_in, _nlp_out); - ocp_nlp_get(_nlp_config, _nlp_solver, "cost_value", &_info.pobj); + ocp_nlp_get(_nlp_solver, "cost_value", &_info.pobj); // Get output for (int k = 0; k <= _nlp_dims->N; k++) @@ -152,7 +152,7 @@ namespace MPCPlanner // Get INFO ocp_nlp_out_get(_nlp_config, _nlp_dims, _nlp_out, 0, "kkt_norm_inf", &_info.kkt_norm_inf); - ocp_nlp_get(_nlp_config, _nlp_solver, "sqp_iter", &_info.sqp_iter); + ocp_nlp_get(_nlp_solver, "sqp_iter", &_info.sqp_iter); // _info.print(_acados_ocp_capsule);