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ACADOSCollocation ​

Collocation scheme of the implicit integrator: Gauss-Legendre (order 2s, the acados default), or Radau IIA (order 2s-1), which is L-stable and therefore damps the stiff modes of a model over a long shooting interval instead of carrying them from one interval to the next

Cases ​

  • GaussLegendre

  • RadauIIA

Source ​

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"Collocation scheme of the implicit integrator: Gauss-Legendre (order 2s, the acados default), or Radau IIA (order 2s-1), which is L-stable and therefore damps the stiff modes of a model over a long shooting interval instead of carrying them from one interval to the next"
enum ACADOSCollocation =
  | GaussLegendre
  | RadauIIA

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