Minimal Example For ACADOS with C++


I am currently using ACADOS (via Python Interface) for implementing a NMPC trajectory planner. I would like to use this controller in my C++ environment. Is there a minimal example on how to use the implemented ACADOS controller with C++.

All the best,

Hi Fabian,

First, welcome to the Forum! :tada:

If you are using acados from Python, notice that you generate a folder c_generated_code, which contains the model functions, the acados OCP solver for your OCP formulation and a Makefile.
Since C is a subset of C++, you should be able to include this into your C++ environment without too much difficulty.
If there are specific problems that you have to spend significant time on, please keep us posted.


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