HpipmIterface::setSoftConstraints

[DreamonZhu]

Hi,

MPCC/C++/Interfaces/hpipm_interface.cpp

Line 182 in 3ec7805

hpipm_bounds_[i].idx_s.push_back(j+nbx_[i]+nbu_[i]);

why don't we just push index j into idx_s but have j plus nbu[i] and nbx[i]?

[alexliniger]

because this is the index of the constraint and by the implementation of hpipm are the indexes of the soft constraints first states then inputs then polytopic constraints.
So index 0 would correspond to have a soft constraint on the bound of the first state. I hope this makes sense otherwise you need to read the hpipm documentation