Libraries for acados (#22079)

* libs

* build specific commit

phonelibs/acados/.gitignore

@@ -1 +1,4 @@
 acados/
+!x86_64/
+!larch64/
+!aarch64/

phonelibs/acados/build.sh

@@ -18,7 +18,7 @@ if [ ! -d acados/ ]; then
 fi
 cd acados
 git fetch
-git checkout f63f0be563519a3df32463397f2bcd57b3958714
+git checkout 05bcbfe42818738c74572f27d06ad75a28d3b380
 git submodule update --recursive --init
 
 # build

phonelibs/acados/include/acados_c/ocp_nlp_interface.h

@@ -227,8 +227,10 @@ int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_n
 /// \param field The name of the field, either nls_res_jac,
 ///     y_ref, W (others TBC)
 /// \param value Cost values.
+int ocp_nlp_cost_model_set_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int start_stage, int end_stage, const char *field, void *value, int dim);
 int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *field, void *value);
+        int start_stage, const char *field, void *value);
 
 
 /// Sets the function pointers to the constraints functions for the given stage.
@@ -239,6 +241,8 @@ int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_i
 /// \param stage Stage number.
 /// \param field The name of the field, either lb, ub (others TBC)
 /// \param value Constraints function or values.
+int ocp_nlp_constraints_model_set_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int start_stage, int end_stage, const char *field, void *value, int dim);
 int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
         ocp_nlp_in *in, int stage, const char *field, void *value);
 
@@ -279,6 +283,9 @@ void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *ou
 void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
         int stage, const char *field, void *value);
 
+void ocp_nlp_out_get_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int start_stage, int end_stage, const char *field, void *value);
+
 //
 void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
         int stage, const char *field, void *value);

pyextra/acados_template/acados_layout.json

@@ -706,7 +706,10 @@
             "int"
         ],
         "sim_method_jac_reuse": [
-            "bool"
+            "ndarray",
+            [
+                "N"
+            ]
         ],
         "qp_solver_cond_N": [
             "int"

pyextra/acados_template/acados_ocp.py

@@ -2123,7 +2123,7 @@ class AcadosOcpOptions:
         self.__sim_method_num_stages  = 4                     # number of stages in the integrator
         self.__sim_method_num_steps   = 1                     # number of steps in the integrator
         self.__sim_method_newton_iter = 3                     # number of Newton iterations in simulation method
-        self.__sim_method_jac_reuse = False
+        self.__sim_method_jac_reuse = 0
         self.__qp_solver_tol_stat = None                      # QP solver stationarity tolerance
         self.__qp_solver_tol_eq   = None                      # QP solver equality tolerance
         self.__qp_solver_tol_ineq = None                      # QP solver inequality
@@ -2172,7 +2172,7 @@ class AcadosOcpOptions:
     def integrator_type(self):
         """
         Integrator type.
-        String in ('ERK', 'IRK', 'GNSF', 'DISCRETE').
+        String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK').
         Default: 'ERK'.
         """
         return self.__integrator_type
@@ -2252,8 +2252,9 @@ class AcadosOcpOptions:
     @property
     def sim_method_jac_reuse(self):
         """
-        Boolean determining if jacobians are reused within integrator.
-        Default: False
+        Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,).
+        0: False (no reuse); 1: True (reuse)
+        Default: 0
         """
         return self.__sim_method_jac_reuse
 
@@ -2491,7 +2492,7 @@ class AcadosOcpOptions:
 
     @integrator_type.setter
     def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE')
+        integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK')
         if integrator_type in integrator_types:
             self.__integrator_type = integrator_type
         else:
@@ -2557,10 +2558,10 @@ class AcadosOcpOptions:
 
     @sim_method_jac_reuse.setter
     def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        if sim_method_jac_reuse in (True, False):
-            self.__sim_method_jac_reuse = sim_method_jac_reuse
-        else:
-            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
+        # if sim_method_jac_reuse in (True, False):
+        self.__sim_method_jac_reuse = sim_method_jac_reuse
+        # else:
+            # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
 
     @nlp_solver_type.setter
     def nlp_solver_type(self, nlp_solver_type):

pyextra/acados_template/acados_ocp_solver.py

@@ -32,11 +32,13 @@
 # POSSIBILITY OF SUCH DAMAGE.;
 #
 
-import sys, os, json
+import sys
+import os
+import json
 import numpy as np
 from datetime import datetime
-
-from ctypes import *
+import ctypes
+from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
 
 from copy import deepcopy
 
@@ -88,9 +90,9 @@ def make_ocp_dims_consistent(acados_ocp):
         raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
             f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
 
-    ## cost
+    # cost
     # initial stage - if not set, copy fields from path constraints
-    if cost.cost_type_0 == None:
+    if cost.cost_type_0 is None:
         cost.cost_type_0 = cost.cost_type
         cost.W_0 = cost.W
         cost.Vx_0 = cost.Vx
@@ -162,7 +164,7 @@ def make_ocp_dims_consistent(acados_ocp):
     if cost.cost_type_e == 'LINEAR_LS':
         ny_e = cost.W_e.shape[0]
         if cost.Vx_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.'  + \
+            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \
                 f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]')
         if cost.Vx_e.shape[1] != dims.nx and ny_e != 0:
             raise Exception('inconsistent dimension: Vx_e should have nx columns.')
@@ -195,12 +197,12 @@ def make_ocp_dims_consistent(acados_ocp):
         dims.nbx_0 = constraints.lbx_0.size
 
     if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
-        and dims.nbxe_0 == None \
+        and dims.nbxe_0 is None \
         and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\
-        and all(constraints.idxbxe_0 == constraints.idxbx_0):
+            and all(constraints.idxbxe_0 == constraints.idxbx_0):
         # case: x0 was set: nbx0 are all equlities.
         dims.nbxe_0 = dims.nbx_0
-    elif dims.nbxe_0 == None:
+    elif dims.nbxe_0 is None:
         # case: x0 was not set -> dont assume nbx0 to be equality constraints.
         dims.nbxe_0 = 0
 
@@ -468,6 +470,17 @@ def make_ocp_dims_consistent(acados_ocp):
     else:
         raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).")
 
+    # jac_reuse
+    if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1:
+        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item()
+
+    if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0:
+        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64)
+    elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \
+           and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)):
+        opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64)
+    else:
+        raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
 
 
 
@@ -489,7 +502,8 @@ def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_n
 
     for acados_struct, v in ocp_layout.items():
         # skip non dict attributes
-        if not isinstance(v, dict): continue
+        if not isinstance(v, dict):
+            continue
         #  setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__))
         # Copy ocp object attributes dictionaries
         ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__)
@@ -529,10 +543,11 @@ def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'):
     # load class dict
     acados_ocp.__dict__ = ocp_nlp_dict
 
-    # laod class attributes dict, dims, constraints, etc
-    for acados_struct, v  in ocp_layout.items():
+    # load class attributes dict, dims, constraints, etc
+    for acados_struct, v in ocp_layout.items():
         # skip non dict attributes
-        if not isinstance(v, dict): continue
+        if not isinstance(v, dict):
+            continue
         acados_attribute = getattr(acados_ocp, acados_struct)
         acados_attribute.__dict__ = ocp_nlp_dict[acados_struct]
         setattr(acados_ocp, acados_struct, acados_attribute)
@@ -561,6 +576,8 @@ def ocp_generate_external_functions(acados_ocp, model):
     elif acados_ocp.solver_options.integrator_type == 'IRK':
         # implicit model -- generate C code
         generate_c_code_implicit_ode(model, opts)
+    elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
+        generate_c_code_implicit_ode(model, opts)
     elif acados_ocp.solver_options.integrator_type == 'GNSF':
         generate_c_code_gnsf(model, opts)
     elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
@@ -665,7 +682,7 @@ def ocp_render_templates(acados_ocp, json_file):
         # constraints on outer function
         template_dir = f'{code_export_dir}/{name}_constraints/'
         in_file = 'phi_constraint.in.h'
-        out_file =  f'{name}_phi_constraint.h'
+        out_file = f'{name}_phi_constraint.h'
         render_template(in_file, out_file, template_dir, json_path)
 
     # terminal constraints on convex over nonlinear function
@@ -673,7 +690,7 @@ def ocp_render_templates(acados_ocp, json_file):
         # terminal constraints on outer function
         template_dir = f'{code_export_dir}/{name}_constraints/'
         in_file = 'phi_e_constraint.in.h'
-        out_file =  f'{name}_phi_e_constraint.h'
+        out_file = f'{name}_phi_e_constraint.h'
         render_template(in_file, out_file, template_dir, json_path)
 
     # nonlinear constraints
@@ -744,25 +761,21 @@ class AcadosOcpSolver:
         :param acados_ocp: type AcadosOcp - description of the OCP for acados
         :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
         :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
-        :param build: Option to disable rendering templates and compiling if previously built - default: True
     """
     if sys.platform=="win32":
         from ctypes import wintypes
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary  
+        dlclose = ctypes.WinDLL('kernel32', use_last_error=True).FreeLibrary
         dlclose.argtypes = [wintypes.HMODULE]
     else:
         dlclose = CDLL(None).dlclose
         dlclose.argtypes = [c_void_p]
 
-    def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True):
-
-        self.solver_created = False
-        self.N = acados_ocp.dims.N
+    @classmethod
+    def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True):
         model = acados_ocp.model
 
-        if simulink_opts == None:
-            acados_path = get_acados_path()
-            json_path = os.path.join(acados_path, 'interfaces/acados_template/acados_template')
+        if simulink_opts is None:
+            json_path = os.path.dirname(os.path.realpath(__file__))
             with open(json_path + '/simulink_default_opts.json', 'r') as f:
                 simulink_opts = json.load(f)
 
@@ -786,77 +799,79 @@ class AcadosOcpSolver:
         ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
 
         code_export_dir = acados_ocp.code_export_directory
+        # render templates
+        ocp_render_templates(acados_ocp, json_file)
+
         if build:
-            # render templates
-            ocp_render_templates(acados_ocp, json_file)
+          ## Compile solver
+          cwd=os.getcwd()
+          os.chdir(code_export_dir)
+          os.system('make clean_ocp_shared_lib')
+          os.system('make ocp_shared_lib')
+          os.chdir(cwd)
 
-            ## Compile solver
-            cwd = os.getcwd()
-            os.chdir(code_export_dir)
-            os.system('make clean_ocp_shared_lib')
-            os.system('make ocp_shared_lib')
-            os.chdir(cwd)
+    def __init__(self, model_name, N, code_export_dir):
+        self.model_name = model_name
+        self.N = N
 
-        self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{model.name}.so'
+        self.solver_created = False
+        self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{self.model_name}.so'
 
         # get shared_lib
         self.shared_lib = CDLL(self.shared_lib_name)
 
         # create capsule
-        getattr(self.shared_lib, f"{model.name}_acados_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{model.name}_acados_create_capsule")()
+        getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p
+        self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")()
 
         # create solver
-        getattr(self.shared_lib, f"{model.name}_acados_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_create").restype = c_int
-        assert getattr(self.shared_lib, f"{model.name}_acados_create")(self.capsule)==0
+        getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int
+        assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
         self.solver_created = True
 
         # get pointers solver
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_opts").restype = c_void_p
-        self.nlp_opts = getattr(self.shared_lib, f"{model.name}_acados_get_nlp_opts")(self.capsule)
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
+        self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule)
 
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_dims").restype = c_void_p
-        self.nlp_dims = getattr(self.shared_lib, f"{model.name}_acados_get_nlp_dims")(self.capsule)
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p
+        self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule)
 
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_config").restype = c_void_p
-        self.nlp_config = getattr(self.shared_lib, f"{model.name}_acados_get_nlp_config")(self.capsule)
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p
+        self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule)
 
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_out").restype = c_void_p
-        self.nlp_out = getattr(self.shared_lib, f"{model.name}_acados_get_nlp_out")(self.capsule)
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
+        self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
 
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_in").restype = c_void_p
-        self.nlp_in = getattr(self.shared_lib, f"{model.name}_acados_get_nlp_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_get_nlp_solver").restype = c_void_p
-        self.nlp_solver = getattr(self.shared_lib, f"{model.name}_acados_get_nlp_solver")(self.capsule)
-
-        self.acados_ocp = acados_ocp
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
+        self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
 
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
+        self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
 
     def solve(self):
         """
         Solve the ocp with current input.
         """
-        model = self.acados_ocp.model
 
-        getattr(self.shared_lib, f"{model.name}_acados_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model.name}_acados_solve").restype = c_int
-        status = getattr(self.shared_lib, f"{model.name}_acados_solve")(self.capsule)
+        getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
+        status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
         return status
 
 
-    def get(self, stage_, field_):
+    def get_slice(self, start_stage_, end_stage_, field_):
         """
         Get the last solution of the solver:
 
-            :param stage: integer corresponding to shooting node
+            :param start_stage: integer corresponding to shooting node that indicates start of slice
+            :param end_stage: integer corresponding to shooting node that indicates end of slice
             :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
 
             .. note:: regarding lam, t: \n
@@ -870,50 +885,54 @@ class AcadosOcpSolver:
                       sl: slack variables of soft lower inequality constraints \n
                       su: slack variables of soft upper inequality constraints \n
         """
-
         out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
         mem_fields = ['sl', 'su']
         field = field_
         field = field.encode('utf-8')
 
         if (field_ not in out_fields + mem_fields):
-            raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
-                    \n Possible values are {}. Exiting.'.format(field_, out_fields + mem_fields))
+            raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
+                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
 
-        if not isinstance(stage_, int):
-            raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
+        if not isinstance(start_stage_, int):
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
 
-        if stage_ < 0 or stage_ > self.N:
-            raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
+        if not isinstance(end_stage_, int):
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
 
-        if stage_ == self.N and field_ == 'pi':
-            raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
-                .format(field_, stage_))
+        if start_stage_ >= end_stage_:
+            raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
 
+        if start_stage_ < 0 or end_stage_ > self.N + 1:
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
         self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
             [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
         self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
 
         dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field)
+            self.nlp_dims, self.nlp_out, start_stage_, field)
 
-        out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
+        out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, dims)), dtype=np.float64)
         out_data = cast(out.ctypes.data, POINTER(c_double))
 
         if (field_ in out_fields):
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field, out_data)
+            self.shared_lib.ocp_nlp_out_get_slice.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
+                self.nlp_dims, self.nlp_out, start_stage_, end_stage_, field, out_data)
         elif field_ in mem_fields:
             self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
                 [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
             self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-                self.nlp_dims, self.nlp_solver, stage_, field, out_data)
+                self.nlp_dims, self.nlp_solver, start_stage_, end_stage_, field, out_data)
 
         return out
 
 
+    def get(self, stage_, field_):
+        return self.get_slice(stage_, stage_ + 1, field_)[0]
+
+
     def print_statistics(self):
         """
         prints statistics of previous solver run as a table:
@@ -965,7 +984,7 @@ class AcadosOcpSolver:
             :param overwrite: if false and filename exists add timestamp to filename
         """
         if filename == '':
-            filename += self.acados_ocp.model.name + '_' + 'iterate' + '.json'
+            filename += self.model_name + '_' + 'iterate' + '.json'
 
         if not overwrite:
             # append timestamp
@@ -1029,8 +1048,7 @@ class AcadosOcpSolver:
                   'qp_iter',  # vector of QP iterations for last SQP call
                   'statistics',  # table with info about last iteration
                   'stat_m',
-                  'stat_n',
-                ]
+                  'stat_n',]
 
         field = field_
         field = field.encode('utf-8')
@@ -1050,7 +1068,7 @@ class AcadosOcpSolver:
             min_size = min([stat_m, sqp_iter+1])
 
             out = np.ascontiguousarray(
-                        np.zeros( (stat_n[0]+1, min_size[0]) ), dtype=np.float64)
+                        np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
             out_data = cast(out.ctypes.data, POINTER(c_double))
 
         elif field_ == 'qp_iter':
@@ -1122,12 +1140,13 @@ class AcadosOcpSolver:
         out_data = cast(out[3].ctypes.data, POINTER(c_double))
         field = "res_comp".encode('utf-8')
         self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
         return out.flatten()
 
 
     # Note: this function should not be used anymore, better use cost_set, constraints_set
+
     def set(self, stage_, field_, value_):
+
         """
         Set numerical data inside the solver.
 
@@ -1155,8 +1174,6 @@ class AcadosOcpSolver:
             value_ = np.array([value_])
         value_ = value_.astype(float)
 
-        model = self.acados_ocp.model
-
         field = field_
         field = field.encode('utf-8')
 
@@ -1164,12 +1181,12 @@ class AcadosOcpSolver:
 
         # treat parameters separately
         if field_ == 'p':
-            getattr(self.shared_lib, f"{model.name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
-            getattr(self.shared_lib, f"{model.name}_acados_update_params").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
+            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
 
             value_data = cast(value_.ctypes.data, POINTER(c_double))
 
-            assert getattr(self.shared_lib, f"{model.name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
+            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
         else:
             if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
                 raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
@@ -1185,7 +1202,7 @@ class AcadosOcpSolver:
 
             if value_.shape[0] != dims:
                 msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
-                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
+                msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
                 raise Exception(msg)
 
             value_data = cast(value_.ctypes.data, POINTER(c_double))
@@ -1214,7 +1231,11 @@ class AcadosOcpSolver:
         return
 
 
-    def cost_set(self, stage_, field_, value_, api='warn'):
+    def cost_set(self, start_stage_, field_, value_, api='warn'):
+      self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
+      return
+
+    def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
         """
         Set numerical data in the cost module of the solver.
 
@@ -1225,12 +1246,13 @@ class AcadosOcpSolver:
         # cast value_ to avoid conversion issues
         if isinstance(value_, (float, int)):
             value_ = np.array([value_])
-        value_ = value_.astype(float)
-
+        value_ = np.ascontiguousarray(np.copy(value_), dtype=np.float64)
         field = field_
         field = field.encode('utf-8')
+        dim = np.product(value_.shape[1:])
 
-        stage = c_int(stage_)
+        start_stage = c_int(start_stage_)
+        end_stage = c_int(end_stage_)
         self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
             [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
         self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
@@ -1239,13 +1261,14 @@ class AcadosOcpSolver:
         dims_data = cast(dims.ctypes.data, POINTER(c_int))
 
         self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
+            self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
 
         value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
+        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
+        if len(value_shape) == 2:
+            value_shape = (value_shape[0], value_shape[1], 0)
 
-        elif len(value_shape) == 2:
+        elif len(value_shape) == 3:
             if api=='old':
                 pass
             elif api=='warn':
@@ -1268,23 +1291,26 @@ class AcadosOcpSolver:
             else:
                 raise Exception("Unknown api: '{}'".format(api))
 
-        if value_shape != tuple(dims):
+        if value_shape != expected_shape:
             raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
                 ' for field "{}" with dimension {} (you have {})'.format( \
-                field_, tuple(dims), value_shape))
+                    field_, expected_shape, value_shape))
+
 
         value_data = cast(value_.ctypes.data, POINTER(c_double))
         value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+        self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
+        self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
 
         return
 
+    def constraints_set(self, start_stage_, field_, value_, api='warn'):
+      self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
+      return
 
-    def constraints_set(self, stage_, field_, value_, api='warn'):
+    def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
         """
         Set numerical data in the constraint module of the solver.
 
@@ -1299,8 +1325,10 @@ class AcadosOcpSolver:
 
         field = field_
         field = field.encode('utf-8')
+        dim = np.product(value_.shape[1:])
 
-        stage = c_int(stage_)
+        start_stage = c_int(start_stage_)
+        end_stage = c_int(end_stage_)
         self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
             [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
         self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
@@ -1309,12 +1337,13 @@ class AcadosOcpSolver:
         dims_data = cast(dims.ctypes.data, POINTER(c_int))
 
         self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
+            self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
 
         value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-        elif len(value_shape) == 2:
+        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
+        if len(value_shape) == 2:
+            value_shape = (value_shape[0], value_shape[1], 0)
+        elif len(value_shape) == 3:
             if api=='old':
                 pass
             elif api=='warn':
@@ -1336,18 +1365,18 @@ class AcadosOcpSolver:
                 value_ = np.ravel(value_, order='F')
             else:
                 raise Exception("Unknown api: '{}'".format(api))
-                
-        if value_shape != tuple(dims):
+
+        if value_shape != expected_shape:
             raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
-                ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
+                ' for field "{}" with dimension {} (you have {})'.format(field_, expected_shape, value_shape))
 
         value_data = cast(value_.ctypes.data, POINTER(c_double))
         value_data_p = cast((value_data), c_void_p)
 
-        self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+        self.shared_lib.ocp_nlp_constraints_model_set_slice.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
+        self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
 
         return
 
@@ -1448,21 +1477,18 @@ class AcadosOcpSolver:
                 [c_void_p, c_void_p, c_char_p, c_void_p]
             self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
                 self.nlp_opts, field, byref(value_ctypes))
-
         return
 
 
     def __del__(self):
-        model = self.acados_ocp.model
-
         if self.solver_created:
-            getattr(self.shared_lib, f"{model.name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{model.name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{model.name}_acados_free")(self.capsule)
+            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
 
-            getattr(self.shared_lib, f"{model.name}_acados_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{model.name}_acados_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{model.name}_acados_free_capsule")(self.capsule)
+            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p]
+            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int
+            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule)
 
             try:
                 self.dlclose(self.shared_lib._handle)

pyextra/acados_template/acados_ocp_solver_fast.py

@@ -0,0 +1,402 @@
+import sys
+import os
+import json
+import numpy as np
+from datetime import datetime
+
+from ctypes import POINTER, CDLL, c_void_p, c_int, cast, c_double, c_char_p
+
+from copy import deepcopy
+
+from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
+from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
+from .generate_c_code_gnsf import generate_c_code_gnsf
+from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
+from .generate_c_code_constraint import generate_c_code_constraint
+from .generate_c_code_nls_cost import generate_c_code_nls_cost
+from .generate_c_code_external_cost import generate_c_code_external_cost
+from .acados_ocp import AcadosOcp
+from .acados_model import acados_model_strip_casadi_symbolics
+from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
+     format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
+     set_up_imported_gnsf_model, get_acados_path
+
+
+class AcadosOcpSolverFast:
+    dlclose = CDLL(None).dlclose
+    dlclose.argtypes = [c_void_p]
+
+    def __init__(self, model_name, N, code_export_dir):
+
+        self.solver_created = False
+        self.N = N
+        self.model_name = model_name
+
+        self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{model_name}.so'
+
+        # get shared_lib
+        self.shared_lib = CDLL(self.shared_lib_name)
+
+        # create capsule
+        getattr(self.shared_lib, f"{model_name}_acados_create_capsule").restype = c_void_p
+        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_create_capsule")()
+
+        # create solver
+        getattr(self.shared_lib, f"{model_name}_acados_create").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_create").restype = c_int
+        assert getattr(self.shared_lib, f"{model_name}_acados_create")(self.capsule)==0
+        self.solver_created = True
+
+        # get pointers solver
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").restype = c_void_p
+        self.nlp_opts = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").restype = c_void_p
+        self.nlp_dims = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").restype = c_void_p
+        self.nlp_config = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").restype = c_void_p
+        self.nlp_out = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").restype = c_void_p
+        self.nlp_in = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in")(self.capsule)
+
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").restype = c_void_p
+        self.nlp_solver = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver")(self.capsule)
+
+
+    def solve(self):
+        """
+        Solve the ocp with current input.
+        """
+        model_name = self.model_name
+
+        getattr(self.shared_lib, f"{model_name}_acados_solve").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{model_name}_acados_solve").restype = c_int
+        status = getattr(self.shared_lib, f"{model_name}_acados_solve")(self.capsule)
+        return status
+
+    def cost_set(self, start_stage_, field_, value_, api='warn'):
+      self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
+      return
+
+    def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
+        """
+        Set numerical data in the cost module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
+            :param value: of appropriate size
+        """
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = np.ascontiguousarray(np.copy(value_), dtype=np.float64)
+        field = field_
+        field = field.encode('utf-8')
+        dim = np.product(value_.shape[1:])
+
+        start_stage = c_int(start_stage_)
+        end_stage = c_int(end_stage_)
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
+
+        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+        dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+        self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config,
+            self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
+
+        value_shape = value_.shape
+        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
+        if len(value_shape) == 2:
+            value_shape = (value_shape[0], value_shape[1], 0)
+
+        elif len(value_shape) == 3:
+            if api=='old':
+                pass
+            elif api=='warn':
+                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
+                    raise Exception("Ambiguity in API detected.\n"
+                                    "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
+                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
+                                    "  You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
+                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
+                                    "  Two options to fix this error: \n" +
+                                    "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
+                                    "   * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
+                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
+                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            elif api=='new':
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            else:
+                raise Exception("Unknown api: '{}'".format(api))
+
+        if value_shape != expected_shape:
+            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension',
+                            ' for field "{}" with dimension {} (you have {})'.format(
+                               field_, expected_shape, value_shape))
+
+
+        value_data = cast(value_.ctypes.data, POINTER(c_double))
+        value_data_p = cast((value_data), c_void_p)
+
+        self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
+        self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config,
+            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
+        return
+
+    def constraints_set(self, start_stage_, field_, value_, api='warn'):
+      self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
+      return
+
+    def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
+        """
+        Set numerical data in the constraint module of the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi']
+            :param value: of appropriate size
+        """
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = value_.astype(float)
+
+        field = field_
+        field = field.encode('utf-8')
+        dim = np.product(value_.shape[1:])
+
+        start_stage = c_int(start_stage_)
+        end_stage = c_int(end_stage_)
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
+
+        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+        dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
+
+        value_shape = value_.shape
+        expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
+        if len(value_shape) == 2:
+            value_shape = (value_shape[0], value_shape[1], 0)
+        elif len(value_shape) == 3:
+            if api=='old':
+                pass
+            elif api=='warn':
+                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
+                    raise Exception("Ambiguity in API detected.\n"
+                                    "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
+                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
+                                    "  You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
+                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
+                                    "  Two options to fix this error: \n" +
+                                    "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
+                                    "   * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
+                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
+                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            elif api=='new':
+                # Get elements in column major order
+                value_ = np.ravel(value_, order='F')
+            else:
+                raise Exception("Unknown api: '{}'".format(api))
+        if value_shape != expected_shape:
+            raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
+                ' for field "{}" with dimension {} (you have {})'.format(field_, expected_shape, value_shape))
+
+        value_data = cast(value_.ctypes.data, POINTER(c_double))
+        value_data_p = cast((value_data), c_void_p)
+
+        self.shared_lib.ocp_nlp_constraints_model_set_slice.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
+        self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
+            self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
+        return
+
+    # Note: this function should not be used anymore, better use cost_set, constraints_set
+    def set(self, stage_, field_, value_):
+        """
+        Set numerical data inside the solver.
+
+            :param stage: integer corresponding to shooting node
+            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+        cost_fields = ['y_ref', 'yref']
+        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
+        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z']
+        mem_fields = ['sl', 'su']
+
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        value_ = value_.astype(float)
+
+        model_name = self.model_name
+
+        field = field_
+        field = field.encode('utf-8')
+
+        stage = c_int(stage_)
+
+        # treat parameters separately
+        if field_ == 'p':
+            getattr(self.shared_lib, f"{model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
+            getattr(self.shared_lib, f"{model_name}_acados_update_params").restype = c_int
+
+            value_data = cast(value_.ctypes.data, POINTER(c_double))
+
+            assert getattr(self.shared_lib, f"{model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
+        else:
+            if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
+                raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
+                    \nPossible values are {}. Exiting.".format(field, \
+                    constraints_fields + cost_fields + out_fields + ['p']))
+
+            self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
+            self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
+
+            dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
+                self.nlp_dims, self.nlp_out, stage_, field)
+
+            if value_.shape[0] != dims:
+                msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
+                msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
+                raise Exception(msg)
+
+            value_data = cast(value_.ctypes.data, POINTER(c_double))
+            value_data_p = cast((value_data), c_void_p)
+
+            if field_ in constraints_fields:
+                self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
+                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+            elif field_ in cost_fields:
+                self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
+                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
+            elif field_ in out_fields:
+                self.shared_lib.ocp_nlp_out_set.argtypes = \
+                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
+                    self.nlp_dims, self.nlp_out, stage, field, value_data_p)
+            elif field_ in mem_fields:
+                self.shared_lib.ocp_nlp_set.argtypes = \
+                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_set(self.nlp_config, \
+                    self.nlp_solver, stage, field, value_data_p)
+        return
+
+
+    def get_slice(self, start_stage_, end_stage_, field_):
+        """
+        Get the last solution of the solver:
+
+            :param start_stage: integer corresponding to shooting node that indicates start of slice
+            :param end_stage: integer corresponding to shooting node that indicates end of slice
+            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
+
+            .. note:: regarding lam, t: \n
+                    the inequalities are internally organized in the following order: \n
+                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
+                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+            .. note:: pi: multipliers for dynamics equality constraints \n
+                      lam: multipliers for inequalities \n
+                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
+                      sl: slack variables of soft lower inequality constraints \n
+                      su: slack variables of soft upper inequality constraints \n
+        """
+        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
+        mem_fields = ['sl', 'su']
+        field = field_
+        field = field.encode('utf-8')
+
+        if (field_ not in out_fields + mem_fields):
+            raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
+                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
+
+        if not isinstance(start_stage_, int):
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
+
+        if not isinstance(end_stage_, int):
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
+
+        if start_stage_ >= end_stage_:
+            raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
+
+        if start_stage_ < 0 or end_stage_ > self.N + 1:
+            raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
+        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
+            [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
+        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
+
+        dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
+            self.nlp_dims, self.nlp_out, start_stage_, field)
+
+        out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, dims)), dtype=np.float64)
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        if (field_ in out_fields):
+            self.shared_lib.ocp_nlp_out_get_slice.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
+                self.nlp_dims, self.nlp_out, start_stage_, end_stage_, field, out_data)
+        elif field_ in mem_fields:
+            self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
+                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+            self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
+                self.nlp_dims, self.nlp_solver, start_stage_, end_stage_, field, out_data)
+
+        return out
+
+    def get_cost(self):
+        """
+        Returns the cost value of the current solution.
+        """
+        # compute cost internally
+        self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
+        self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
+
+        # create output array
+        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
+        out_data = cast(out.ctypes.data, POINTER(c_double))
+
+        # call getter
+        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
+
+        field = "cost_value".encode('utf-8')
+        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
+
+        return out[0]

pyextra/acados_template/acados_sim.py

@@ -117,7 +117,7 @@ class AcadosSimOpts:
         self.__sens_algebraic = False
         self.__sens_hess = False
         self.__output_z = False
-        self.__sim_method_jac_reuse = False
+        self.__sim_method_jac_reuse = 0
 
     @property
     def integrator_type(self):
@@ -166,7 +166,7 @@ class AcadosSimOpts:
 
     @property
     def sim_method_jac_reuse(self):
-        """Boolean determining if jacobians are reused. Default: False"""
+        """Integer determining if jacobians are reused (0 or 1). Default: 0"""
         return self.__sim_method_jac_reuse
 
     @property
@@ -245,10 +245,10 @@ class AcadosSimOpts:
 
     @sim_method_jac_reuse.setter
     def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        if sim_method_jac_reuse in (True, False):
+        if sim_method_jac_reuse in (0, 1):
             self.__sim_method_jac_reuse = sim_method_jac_reuse
         else:
-            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
+            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.')
 
 class AcadosSim:
     """

pyextra/acados_template/c_templates_tera/Makefile.in

@@ -153,6 +153,12 @@ MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.o
 {%- if hessian_approx == "EXACT" %}
 MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
 {%- endif %}
+{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.o
+{%- if hessian_approx == "EXACT" %}
+MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
+{%- endif %}
 {%- elif solver_options.integrator_type == "GNSF" %}
 MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.o
 MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.o
@@ -287,6 +293,14 @@ CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
 {%- if hessian_approx == "EXACT" %}
 CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
 {%- endif %}
+{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
+# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
+# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
+{%- if hessian_approx == "EXACT" %}
+CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
+{%- endif %}
 {%- elif solver_options.integrator_type == "GNSF" %}
 CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun.c
 CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun_jac_y.c

pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c

@@ -81,6 +81,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     int nx = {{ dims.nx }};
     int nu = {{ dims.nu }};
     int nz = {{ dims.nz }};
+    bool tmp_bool;
 
     {#// double Tsim = {{ solver_options.tf / dims.N }};#}
     double Tsim = {{ solver_options.Tsim }};
@@ -242,8 +243,6 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->acados_sim_opts = {{ model.name }}_sim_opts;
     int tmp_int = {{ solver_options.sim_method_newton_iter }};
     sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
-    bool tmp_bool = {{ solver_options.sim_method_jac_reuse }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool);
 
 {% if problem_class == "SIM" %}
     tmp_int = {{ solver_options.sim_method_num_stages }};
@@ -269,6 +268,8 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
     tmp_int = {{ solver_options.sim_method_num_steps[0] }};
     sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
+    tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool);
 {% endif %}
 
     // sim in / out

pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h

@@ -88,7 +88,7 @@ sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
 sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
 
 
-sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule();
+sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
 int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
 
 #ifdef __cplusplus

pyextra/acados_template/c_templates_tera/acados_solver.in.h

@@ -64,6 +64,7 @@ typedef struct nlp_solver_capsule
     external_function_param_casadi *impl_dae_fun;
     external_function_param_casadi *impl_dae_fun_jac_x_xdot_z;
     external_function_param_casadi *impl_dae_jac_x_xdot_u_z;
+    external_function_param_casadi *impl_dae_fun_jac_x_xdot_u;
     external_function_param_casadi *impl_dae_hess;
     external_function_param_casadi *gnsf_phi_fun;
     external_function_param_casadi *gnsf_phi_fun_jac_y;
@@ -108,7 +109,7 @@ typedef struct nlp_solver_capsule
     external_function_param_casadi nl_constr_h_e_fun_jac_hess;
 } nlp_solver_capsule;
 
-nlp_solver_capsule * {{ model.name }}_acados_create_capsule();
+nlp_solver_capsule * {{ model.name }}_acados_create_capsule(void);
 int {{ model.name }}_acados_free_capsule(nlp_solver_capsule *capsule);
 
 int {{ model.name }}_acados_create(nlp_solver_capsule * capsule);

pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c

@@ -317,6 +317,21 @@ static void mdlInitializeSizes (SimStruct *S)
     ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
   {%- endif %}
 
+  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
+  {%- endif %}
+
+  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
+  {%- endif %}
+
   {%- if simulink_opts.outputs.sqp_iter == 1 %}
     {%- set i_output = i_output + 1 %}
     ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
@@ -650,7 +665,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
 
     /* set outputs */
     // assign pointers to output signals
-    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time;
+    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin;
     int tmp_int;
 
     {%- set i_output = -1 -%}{# note here i_output is 0-based #}
@@ -702,6 +717,24 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
   {%- endif -%}
 
+  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim);
+  {%- endif -%}
+
+  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp);
+  {%- endif -%}
+
+  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin);
+  {%- endif -%}
+
   {%- if simulink_opts.outputs.sqp_iter == 1 %}
     {%- set i_output = i_output + 1 %}
     out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }});

pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h

@@ -44,22 +44,22 @@ int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, rea
 int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
 const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_n_in();
-int {{ model.name }}_cost_y_0_fun_n_out();
+int {{ model.name }}_cost_y_0_fun_n_in(void);
+int {{ model.name }}_cost_y_0_fun_n_out(void);
 
 int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
 const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in();
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out();
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
 
 int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
 const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_0_hess_n_in();
-int {{ model.name }}_cost_y_0_hess_n_out();
+int {{ model.name }}_cost_y_0_hess_n_in(void);
+int {{ model.name }}_cost_y_0_hess_n_out(void);
 {% endif %}
 
 #ifdef __cplusplus

pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h

@@ -44,22 +44,22 @@ int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, rea
 int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
 const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_n_in();
-int {{ model.name }}_cost_y_e_fun_n_out();
+int {{ model.name }}_cost_y_e_fun_n_in(void);
+int {{ model.name }}_cost_y_e_fun_n_out(void);
 
 int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
 const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in();
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out();
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
 
 int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
 const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_e_hess_n_in();
-int {{ model.name }}_cost_y_e_hess_n_out();
+int {{ model.name }}_cost_y_e_hess_n_in(void);
+int {{ model.name }}_cost_y_e_hess_n_out(void);
 {% endif %}
 
 #ifdef __cplusplus

pyextra/acados_template/c_templates_tera/cost_y_fun.in.h

@@ -44,22 +44,22 @@ int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_
 int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
 const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_n_in();
-int {{ model.name }}_cost_y_fun_n_out();
+int {{ model.name }}_cost_y_fun_n_in(void);
+int {{ model.name }}_cost_y_fun_n_out(void);
 
 int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
 const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in();
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out();
+int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
 
 int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
 const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_hess_n_in();
-int {{ model.name }}_cost_y_hess_n_out();
+int {{ model.name }}_cost_y_hess_n_in(void);
+int {{ model.name }}_cost_y_hess_n_out(void);
 {% endif %}
 
 #ifdef __cplusplus

pyextra/acados_template/c_templates_tera/external_cost.in.h

@@ -45,22 +45,22 @@ int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw
 int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_n_in();
-int {{ model.name }}_cost_ext_cost_fun_n_out();
+int {{ model.name }}_cost_ext_cost_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_n_out(void);
 
 int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in();
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out();
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
 
 int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_in();
-int {{ model.name }}_cost_ext_cost_fun_jac_n_out();
+int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
 {% endif %}
 
 {% else %}

pyextra/acados_template/c_templates_tera/external_cost_0.in.h

@@ -46,22 +46,22 @@ int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int*
 int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_n_in();
-int {{ model.name }}_cost_ext_cost_0_fun_n_out();
+int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
 
 int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in();
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out();
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
 
 int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in();
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out();
+int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
 {% endif %}
 
 {% else %}

pyextra/acados_template/c_templates_tera/external_cost_e.in.h

@@ -45,22 +45,22 @@ int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int*
 int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_n_in();
-int {{ model.name }}_cost_ext_cost_e_fun_n_out();
+int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
 
 int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in();
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out();
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
 
 int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
 const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
 const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in();
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out();
+int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
 {% endif %}
 
 {% else %}

pyextra/acados_template/c_templates_tera/h_constraint.in.h

@@ -43,23 +43,23 @@ int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, i
 int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
 const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
 const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in();
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out();
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
 
 int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
 const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_n_in();
-int {{ model.name }}_constr_h_fun_n_out();
+int {{ model.name }}_constr_h_fun_n_in(void);
+int {{ model.name }}_constr_h_fun_n_out(void);
 
 {% if solver_options.hessian_approx == "EXACT" -%}
 int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
 const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in();
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out();
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
 {% endif %}
 {% endif %}
 

pyextra/acados_template/c_templates_tera/h_e_constraint.in.h

@@ -44,23 +44,23 @@ int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res,
 int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
 const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
 const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in();
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out();
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
 
 int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
 const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_n_in();
-int {{ model.name }}_constr_h_e_fun_n_out();
+int {{ model.name }}_constr_h_e_fun_n_in(void);
+int {{ model.name }}_constr_h_e_fun_n_out(void);
 
 {% if solver_options.hessian_approx == "EXACT" -%}
 int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
 const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in();
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out();
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
+int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
 {% endif %}
 {% endif %}
 

pyextra/acados_template/c_templates_tera/make_sfun.in.m

@@ -312,6 +312,21 @@ i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
 {%- endif %}
 
+{%- if simulink_opts.outputs.CPU_time_sim == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.CPU_time_qp == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n ');
+{%- endif %}
+
+{%- if simulink_opts.outputs.CPU_time_lin == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n ');
+{%- endif %}
+
 {%- if simulink_opts.outputs.sqp_iter == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');

pyextra/acados_template/c_templates_tera/model.in.h

@@ -46,46 +46,46 @@ extern "C" {
 	{%- set hessian_approx = "GAUSS_NEWTON" %}
 {%- endif %}
 
-{% if solver_options.integrator_type == "IRK" %}
+{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
 // implicit ODE
 int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
 const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_n_in();
-int {{ model.name }}_impl_dae_fun_n_out();
+int {{ model.name }}_impl_dae_fun_n_in(void);
+int {{ model.name }}_impl_dae_fun_n_out(void);
 
 // implicit ODE
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
 const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in();
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out();
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
 
 // implicit ODE
 int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
 const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in();
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out();
+int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
+int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
 
-// // implicit ODE - for lifted_irk
-// int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-// int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
-// const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
-// const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
-// int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in();
-// int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out();
+// implicit ODE - for lifted_irk
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
+const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
+const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
+int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
 
 {%- if hessian_approx == "EXACT" %}
 int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
 const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
-int {{ model.name }}_impl_dae_hess_n_in();
-int {{ model.name }}_impl_dae_hess_n_out();
+int {{ model.name }}_impl_dae_hess_n_in(void);
+int {{ model.name }}_impl_dae_hess_n_out(void);
 {%- endif %}
 
 {% elif solver_options.integrator_type == "GNSF" %}
@@ -95,40 +95,40 @@ int        {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** r
 int        {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
 const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_in();
-int        {{ model.name }}_gnsf_get_matrices_fun_n_out();
+int        {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
+int        {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
 
 // phi_fun
 int        {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
 int        {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
 const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_n_in();
-int        {{ model.name }}_gnsf_phi_fun_n_out();
+int        {{ model.name }}_gnsf_phi_fun_n_in(void);
+int        {{ model.name }}_gnsf_phi_fun_n_out(void);
 
 // phi_fun_jac_y
 int        {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
 int        {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
 const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
 const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in();
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out();
+int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
+int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
 
 // phi_jac_y_uhat
 int        {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
 int        {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
 const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
 const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in();
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out();
+int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
+int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
 
 // f_lo_fun_jac_x1k1uz
 int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
 int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
 const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
 const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in();
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out();
+int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
+int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
 
 {% elif solver_options.integrator_type == "ERK" %}
 /* explicit ODE */
@@ -138,32 +138,32 @@ int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, rea
 int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
 const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
-int {{ model.name }}_expl_ode_fun_n_in();
-int {{ model.name }}_expl_ode_fun_n_out();
+int {{ model.name }}_expl_ode_fun_n_in(void);
+int {{ model.name }}_expl_ode_fun_n_out(void);
 
 // explicit forward VDE
 int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
 const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
 const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
-int {{ model.name }}_expl_vde_forw_n_in();
-int {{ model.name }}_expl_vde_forw_n_out();
+int {{ model.name }}_expl_vde_forw_n_in(void);
+int {{ model.name }}_expl_vde_forw_n_out(void);
 
 // explicit adjoint VDE
 int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
 const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
 const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
-int {{ model.name }}_expl_vde_adj_n_in();
-int {{ model.name }}_expl_vde_adj_n_out();
+int {{ model.name }}_expl_vde_adj_n_in(void);
+int {{ model.name }}_expl_vde_adj_n_out(void);
 
 {%- if hessian_approx == "EXACT" %}
 int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
 const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
-int {{ model.name }}_expl_ode_hess_n_in();
-int {{ model.name }}_expl_ode_hess_n_out();
+int {{ model.name }}_expl_ode_hess_n_in(void);
+int {{ model.name }}_expl_ode_hess_n_out(void);
 {%- endif %}
 
 {% elif solver_options.integrator_type == "DISCRETE" %}
@@ -173,23 +173,23 @@ int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw,
 int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
 const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_n_in();
-int {{ model.name }}_dyn_disc_phi_fun_n_out();
+int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
+int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
 
 int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
 const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
 const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_in();
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_out();
+int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
+int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
 
 {%- if hessian_approx == "EXACT" %}
 int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
 const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in();
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out();
+int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
+int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
 {%- endif %}
 {% else %}
   {%- if hessian_approx == "EXACT" %}

pyextra/acados_template/c_templates_tera/phi_constraint.in.h

@@ -44,8 +44,8 @@ int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, r
 int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
 const int *{{ model.name }}_phi_constraint_sparsity_in(int);
 const int *{{ model.name }}_phi_constraint_sparsity_out(int);
-int {{ model.name }}_phi_constraint_n_in();
-int {{ model.name }}_phi_constraint_n_out();
+int {{ model.name }}_phi_constraint_n_in(void);
+int {{ model.name }}_phi_constraint_n_out(void);
 {% endif %}
 
 #ifdef __cplusplus

pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h

@@ -10,8 +10,8 @@ int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw,
 int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
 const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
 const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
-int {{ model.name }}_phi_e_constraint_n_in();
-int {{ model.name }}_phi_e_constraint_n_out();
+int {{ model.name }}_phi_e_constraint_n_in(void);
+int {{ model.name }}_phi_e_constraint_n_out(void);
 {% endif %}
 
 #ifdef __cplusplus

pyextra/acados_template/generate_c_code_implicit_ode.py

@@ -129,6 +129,9 @@ def generate_c_code_implicit_ode( model, opts ):
     fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
     impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_opts)
 
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
+    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_opts)
+
     if generate_hess:
         fun_name = model_name + '_impl_dae_hess'
         impl_dae_hess.generate(fun_name, casadi_opts)

pyextra/acados_template/simulink_default_opts.json

@@ -7,6 +7,9 @@
         "KKT_residual": 1,
         "x1": 1,
         "CPU_time": 1,
+        "CPU_time_sim": 0,
+        "CPU_time_qp": 0,
+        "CPU_time_lin": 0,
         "sqp_iter": 1
     },
     "inputs": {