Daniele Morra

I'm generating the code for a MPC that should do path following, so it should know the spatial trajectory to get the reference points from its position. I found that ACADO doesn't accept a DVector reference if I'd like to generate code and to export it... Meanwhile it is possible to do it if you execute the algorithm directly from the source code. Practically I noticed that I cannot do that: ocp.minimizeLSQ(W, h, r) but it only accepts: ocp.minimizeLSQ(W, h) Do you have any catches or walkaround...