opti.to_function output

[Antonio Ferramosca]

Dear all

I've a quastion about the new option .to_function of the Opti stack in Matlab.

If I define my controller function such as:

MPC=opti.to_function('MPC',{xk,xs},{uf,xf},{'xk','xs'},{'uf_opt','xf_opt'});

where

xf = opti.variable(nx,N+1);

uf = opti.variable(nu,N);

when I call the function using full(MPC(xk,xs)), it just only return the first defined output (uf). 

Any idea on what should I do to access also the other output xf?

Thanks

Antonio

[Joris Gillis]

Multi-output CasADi Functions behave like variable output Matlab functions:

ufsol, xfsol = MPC(..)
full(ufsol)

Best,
Joris