Update matrices F and G

[sungjun66]

Hello,

First of all, thank you for developing LinearMPC.jl. Thanks to this package, I have successfully generated C-code for my Hybrid MPC implementation.

I am writing to inquire if it is possible to implement LTV (Linear Time-Varying) or LPV (Linear Parameter-Varying) MPC using the codegen feature. Specifically, I would like to know if the constraint matrices F and G can be updated at every time step after the C-code has been generated.

In my previous research, I implemented LTV/LPV MPC using OSQP codegen, which allowed for runtime matrix updates. I am curious if similar functionality is currently supported or could be added for the DAQP solver integration within LinearMPC.jl.

Thank you for your assistance.

[darnstrom]

Hi @sungjun66
This is a feature that I have been thinking about (and you bringing it up now is quite timely since I recently started to think of such an extension again.)
However, it is not a quick addition since it requires that the condensation code that is currently in Julia be transferred to C. But I will keep you updated on any progress in this direction.