802 lines
14 KiB
JSON
802 lines
14 KiB
JSON
{
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"code_export_directory": [
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"str"
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],
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"acados_include_path": [
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"str"
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],
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"cython_include_dirs": [
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"str"
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],
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"model": {
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"name" : [
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"str"
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],
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"dyn_ext_fun_type" : [
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"str"
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],
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"dyn_source_discrete" : [
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"str"
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],
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"dyn_disc_fun_jac_hess" : [
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"str"
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],
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"dyn_disc_fun_jac" : [
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"str"
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],
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"dyn_disc_fun" : [
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"str"
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],
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"gnsf" : {
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"nontrivial_f_LO": [
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"int"
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],
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"purely_linear": [
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"int"
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]
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}
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},
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"parameter_values": [
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"ndarray",
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[
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"np"
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]
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],
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"acados_lib_path": [
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"str"
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],
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"problem_class": [
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"str"
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"constraints": {
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"constr_type": [
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"str"
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"str"
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[
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"lbu": [
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"lg": [
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"ndarray",
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[
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"ng"
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"ug": [
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"ndarray",
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[
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"ng"
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"D": [
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"ndarray",
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[
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"ng",
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"nu"
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]
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"C": [
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"ndarray",
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[
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"ng",
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"nx"
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],
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"C_e": [
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"ndarray",
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[
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"ng_e",
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"nx"
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"lg_e": [
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"ug_e": [
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"ndarray",
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"lh": [
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"ndarray",
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[
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"nh"
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"uh": [
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"lh_e": [
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"ndarray",
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"uh_e": [
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"ndarray",
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"lphi": [
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"ndarray",
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"nphi"
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"uphi": [
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"ndarray",
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"lsbx": [
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"ndarray",
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"usbx": [
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"ndarray",
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"lsbu": [
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"ndarray",
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"ndarray",
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"lsg": [
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"idxsg": [
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"lsphi": [
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},
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"cost": {
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"cost_type": [
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"cost_type_e": [
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"cost_ext_fun_type_0": [
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"cost_ext_fun_type": [
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"cost_ext_fun_type_e": [
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"Vu_0": [
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"Vx_0": [
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"ndarray",
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"Vx": [
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"Vx_e": [
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],
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"Vz_0": [
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"ndarray",
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]
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],
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"Vz": [
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]
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"W": [
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"Zl": [
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"ndarray",
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"Zu": [
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"zl": [
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"zu": [
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"ndarray",
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"W_e": [
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"yref_0": [
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"nsg_e": [
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"ns_e": [
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"np": [
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"nr": [
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"nr_e": [
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"nh": [
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"nphi": [
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"nphi_e": [
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"nu": [
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"nx": [
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"ny": [
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"ny_0": [
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"ny_e": [
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"nz": [
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"gnsf_nx1": [
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"int"
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"gnsf_nz1": [
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"gnsf_nuhat": [
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"gnsf_ny": [
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"gnsf_nout": [
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},
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"time_steps": [
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"hessian_approx": [
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"regularize_method": [
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"integrator_type": [
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"nlp_solver_type": [
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"collocation_type": [
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"float"
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"levenberg_marquardt": [
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"float"
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"qp_solver": [
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"tf": [
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"Tsim": [
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"float"
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"alpha_min": [
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"float"
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"alpha_reduction": [
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"float"
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"line_search_use_sufficient_descent": [
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"int"
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],
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"globalization_use_SOC": [
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"int"
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"eps_sufficient_descent": [
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"float"
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"sim_method_num_stages": [
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"ndarray",
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[
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"N"
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]
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],
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"sim_method_num_steps": [
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"ndarray",
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[
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"N"
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]
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],
|
|
"sim_method_newton_iter": [
|
|
"int"
|
|
],
|
|
"sim_method_jac_reuse": [
|
|
"ndarray",
|
|
[
|
|
"N"
|
|
]
|
|
],
|
|
"qp_solver_cond_N": [
|
|
"int"
|
|
],
|
|
"qp_solver_warm_start": [
|
|
"int"
|
|
],
|
|
"qp_solver_tol_stat": [
|
|
"float"
|
|
],
|
|
"qp_solver_tol_eq": [
|
|
"float"
|
|
],
|
|
"qp_solver_tol_ineq": [
|
|
"float"
|
|
],
|
|
"qp_solver_tol_comp": [
|
|
"float"
|
|
],
|
|
"qp_solver_iter_max": [
|
|
"int"
|
|
],
|
|
"nlp_solver_tol_stat": [
|
|
"float"
|
|
],
|
|
"nlp_solver_tol_eq": [
|
|
"float"
|
|
],
|
|
"nlp_solver_tol_ineq": [
|
|
"float"
|
|
],
|
|
"nlp_solver_tol_comp": [
|
|
"float"
|
|
],
|
|
"nlp_solver_max_iter": [
|
|
"int"
|
|
],
|
|
"print_level": [
|
|
"int"
|
|
],
|
|
"initialize_t_slacks": [
|
|
"int"
|
|
],
|
|
"exact_hess_cost": [
|
|
"int"
|
|
],
|
|
"exact_hess_constr": [
|
|
"int"
|
|
],
|
|
"exact_hess_dyn": [
|
|
"int"
|
|
],
|
|
"ext_cost_num_hess": [
|
|
"int"
|
|
],
|
|
"model_external_shared_lib_dir": [
|
|
"str"
|
|
],
|
|
"model_external_shared_lib_name": [
|
|
"str"
|
|
]
|
|
}
|
|
}
|