Activation function time does not move according to MPC progress about control-toolbox HOT 1 CLOSED

I figured out the solution by myself and want to share it here such that others can benefit from it too.

By design, the activation doesn't get shifted in time by any internal function and is only associated with its respective CostTerm.
Thus, if you want to shift the activation, you have to shift the entire cost function.

Within my mpcLoop I do the following:

// Get time passed since first solve
ct::core::Time t_since_first_solve = ilqr_mpc->timeSinceFirstSuccessfulSolve(t);

// Shift function in time
cost_function->shiftTime(t_since_first_solve);

// Assign shifted cost function to MPC solver
ilqr_mpc->getSolver().changeCostFunction(cost_function);

As this solved my issue, I will close it.

from control-toolbox.