Upgrade ACADOS; Improve OCP - #14

Merged

jpbusch merged 17 commits into

mainfrom

Jul 23, 2026

Commits on Jul 14, 2026

upgrad acados to v0.5.5 and adjust API calls
jpbusch
committed
c78a6e6
update dev env
jpbusch
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5db63f3

Commits on Jul 15, 2026

update example ackermann params
jpbusch
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2e0d058
add performance logging (may be reverted)
jpbusch
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151437c

Commits on Jul 16, 2026

disable solver warm start, because it wasnt active in the last versions anyway (bug). Now hot start leads to only status 4 and cold start leads to same performance as before
jpbusch
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ad4e185
improve solver generation and reset; small rebustness checks
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13d40fb
fix baselink offset handling in boundary constraints
jpbusch
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d363560
do not extrapolate boundary offsets behind ego vehicle; fix many status 4 failures
jpbusch
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196d29c
fix matching of boundary intersections (s-coodinate); simplify boundary viz
jpbusch
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02357ab
extend performance logging with timestamps
jpbusch
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8953996

Commits on Jul 17, 2026

improve initial guess by integrating x_init with the latest known control values
jpbusch
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ccea7d7
add cycle time to logs
jpbusch
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ae82c3e

Commits on Jul 22, 2026

add missing doxygen docu
jpbusch
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ce56f4f

Commits on Jul 23, 2026

revert unrelated config changes
jpbusch
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90c1842
implement suggestions from PR
jpbusch
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2166a1a
update dev environemnt
jpbusch
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6df1dc0
bump version to 1.3.1
jpbusch
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7662155