{"action":"created","comment":{"url":"https://api.github.com/repos/acados/acados/pulls/comments/239568194","pull_request_review_id":182388914,"id":239568194,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIzOTU2ODE5NA==","diff_hunk":"@@ -158,6 +313,80 @@ void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims_, void *raw_\n     return model;\n }\n \n+int ocp_nlp_constraints_bgh_bounds_set(void *config_, void *dims_,","path":"acados/ocp_nlp/ocp_nlp_constraints_bgh.c","position":166,"original_position":166,"commit_id":"1d5c928148222d1bb6a3ffe7f8046d2994d02d19","original_commit_id":"1d5c928148222d1bb6a3ffe7f8046d2994d02d19","user":{"login":"giaf","id":1334258,"node_id":"MDQ6VXNlcjEzMzQyNTg=","avatar_url":"https://avatars0.githubusercontent.com/u/1334258?v=4","gravatar_id":"","url":"https://api.github.com/users/giaf","html_url":"https://github.com/giaf","followers_url":"https://api.github.com/users/giaf/followers","following_url":"https://api.github.com/users/giaf/following{/other_user}","gists_url":"https://api.github.com/users/giaf/gists{/gist_id}","starred_url":"https://api.github.com/users/giaf/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/giaf/subscriptions","organizations_url":"https://api.github.com/users/giaf/orgs","repos_url":"https://api.github.com/users/giaf/repos","events_url":"https://api.github.com/users/giaf/events{/privacy}","received_events_url":"https://api.github.com/users/giaf/received_events","type":"User","site_admin":false},"body":"by the way, are there setters for the matrices C, D and nonlinear function h too?","created_at":"2018-12-06T18:43:48Z","updated_at":"2018-12-06T18:43:48Z","html_url":"https://github.com/acados/acados/pull/343#discussion_r239568194","pull_request_url":"https://api.github.com/repos/acados/acados/pulls/343","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/acados/acados/pulls/comments/239568194"},"html":{"href":"https://github.com/acados/acados/pull/343#discussion_r239568194"},"pull_request":{"href":"https://api.github.com/repos/acados/acados/pulls/343"}},"in_reply_to_id":239567599},"pull_request":{"url":"https://api.github.com/repos/acados/acados/pulls/343","id":235070290,"node_id":"MDExOlB1bGxSZXF1ZXN0MjM1MDcwMjkw","html_url":"https://github.com/acados/acados/pull/343","diff_url":"https://github.com/acados/acados/pull/343.diff","patch_url":"https://github.com/acados/acados/pull/343.patch","issue_url":"https://api.github.com/repos/acados/acados/issues/343","number":343,"state":"open","locked":false,"title":"Ocp C interface","user":{"login":"FreyJo","id":31900285,"node_id":"MDQ6VXNlcjMxOTAwMjg1","avatar_url":"https://avatars2.githubusercontent.com/u/31900285?v=4","gravatar_id":"","url":"https://api.github.com/users/FreyJo","html_url":"https://github.com/FreyJo","followers_url":"https://api.github.com/users/FreyJo/followers","following_url":"https://api.github.com/users/FreyJo/following{/other_user}","gists_url":"https://api.github.com/users/FreyJo/gists{/gist_id}","starred_url":"https://api.github.com/users/FreyJo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/FreyJo/subscriptions","organizations_url":"https://api.github.com/users/FreyJo/orgs","repos_url":"https://api.github.com/users/FreyJo/repos","events_url":"https://api.github.com/users/FreyJo/events{/privacy}","received_events_url":"https://api.github.com/users/FreyJo/received_events","type":"User","site_admin":false},"body":"Hey guys,\r\n\r\nI was working a lot on the C interface for the `ocp_nlp` module during the last two weeks.\r\nA complete C interface should enable us to build a C++ interface which is completely decoupled from the C core and only uses functions and types defined in the C interface.\r\nThe realizes the concept of :tada: encapsulation :tada: .  We will remain flexible to change stuff within the core, however the C API should not be maintained.\r\n\r\nAdditionally, I fixed all compiler warnings and cleaned up several examples.\r\nMany examples are modified in a way that less includes are needed, replacing the previous operations with calls to the C interface.\r\n\r\nI think that the branch is now in a good state and could be merged, such that everybody can start using the C API.\r\nHowever, there are still many things to write setters (&getters) for. I would also appreciate if someone can help with modules which lack a detailed documentation and are hard for me to understand.\r\n","created_at":"2018-11-30T18:04:11Z","updated_at":"2018-12-06T18:43:48Z","closed_at":null,"merged_at":null,"merge_commit_sha":"e2106311d32d77d98c628fc999ab61fe1b7b30c5","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[{"id":352909113,"node_id":"MDU6TGFiZWwzNTI5MDkxMTM=","url":"https://api.github.com/repos/acados/acados/labels/enhancement","name":"enhancement","color":"84b6eb","default":true},{"id":352909114,"node_id":"MDU6TGFiZWwzNTI5MDkxMTQ=","url":"https://api.github.com/repos/acados/acados/labels/help%20wanted","name":"help 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