Merge pull request #7 from ICube-Robotics/(tpoignonec)fix_get_cost

fixed getter NMPC cost
ICube-Robotics · Apr 24, 2024 · 26317a6 · 26317a6
2 parents 54248cd + f6267dc
commit 26317a6
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/acados_solver_base/src/acados_solver_utils.cpp b/acados_solver_base/src/acados_solver_utils.cpp
@@ -234,6 +234,11 @@ void utils::unsafe_get_stats_field(AcadosSolver & solver, const std::string & fi
 double utils::get_stats_cost_value(AcadosSolver & solver)
 {
   double cost_value = 0.0;
+  ocp_nlp_eval_cost(
+    solver.get_nlp_solver(),
+    solver.get_nlp_in(),
+    solver.get_nlp_out()
+  );
   unsafe_get_stats_field(solver, "cost_value", cost_value);
   return cost_value;
 }