# writeAcadoFiles

Generate files for ACADO Toolbox

## Contents

- Syntax
- Description
- Input Arguments
- See Also

## Syntax

writeAcadoFiles(path,benchmark,Opts)

## Description

This function generates and compiles the files containing the system dynamics, which are needed for solving optimal control problems with the ACADO toolbox

## Input Arguments

path | path to the root directory of the control algorithm
benchmark | name of the selected benchmark
Opts | a structure containing following options
.nx | number of system states
.nu | number of system inputs
.extHorizon.active | use extended optimization horizon for optimal control problems (optional) [{false} / true]
.extHorizon.horizon | length of the extended optimization horizon in center trajectory time steps (optional) [{`'all'`} / positive integer]
.extHorizon.decay | decay function for the objective function of the optimization problem with extended optimization horizon (optional) [{`'uniform'`} / `'fall'` / `'fall+end'` /; `'fallLinear'` / `'fallLinear+End'` /; `'fallEqDiff'` / `'FallEqDiff+End'` /; `'rise'` / `'quad'` / `'riseLinear'` /; `'riseEqDiff'` / `'end'`]

## See Also

`acadoConvertDynamics`

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