Setting LSQ reference in the C generated code

[BardBakk]

Hi all,

if I want to set a reference that is to be tracked, I would normally include it as the last argument in the minimizeLSQ function like this

...
Vector r(2);
r(0) = 1;
r(1) = 2;
minimizeLSQ(Q,h,r);
minimizeLSQEndTerm(QN,hN,rN);
...

(Q - weight matrix; h - terms to be penalized; r - vector of reference values)
However, when trying to export this to C code, an error message occurs saying that "Error: Only standard LSQ objective supported for code generation". Removing "r" and "rN", the code is exported perfectly, but my question then is: if I cannot set a reference in the C++ ACADO code, can I do it in the generated C code? If so, which variable is available for changing the reference value?

Regards,
bardbakk

[BardBakk]

Nevermind, found that I had misunderstood the acadoVariables.y and acadoVariables.yN. These are the variables in which the reference is set.

[Kaustav Mondal]

I face the same problem.

If I use

minimizeLSQ(Q,h,r);
minimizeLSQEndTerm(QN,hN,rN);

I get "Error: Only standard LSQ objective supported for code generation".

If I use

minimizeLSQ(Q,h);
minimizeLSQEndTerm(QN,hN);

I don't get this error.

Can I use acadoVariables.y and acadoVariables.yN in my C++ code without explicitly defining rand rN in my ACADO code ?