ROADMAP.md

Roadmap

core

• propagate cost in integrator
• restore download and compilation of OOQP

documentation

• provide OCP NLP formulation that is handled by ocp_nlp as a formula in docs
  • closely stick to setter names!
• Set up and document binary workflow
  • Windows Matlab
  • MacOS Matlab

matlab interface

• code generation workflow!
• separate acados_ocp() into generating the C object and setting the numerical data
• support nonuniform grids
• OCP with DAEs

build

• cmake: add openmp parallelization

templating

• add GNSF

general

• RTI implementation similar to ACADO

ocp_nlp

• Gauss-Newton SQP
• exact Hessian SQP
• partial tightening
• blockSQP

ocp_qp

• qpOASES v3.1
• OOQP
• qpDUNES
• HPMPC
• OSQP

sim

• explicit Runge-Kutta
• lifted IRK
• collocation integrators GL
• collocation integrators Radau
• GNSF Hessians