Full structure of (symbolic) MHE parameters.
The attribute can be used to alter the objective function or constraints of the NLP.
The attribute is a CasADi numeric structure with nested power indices. It can be indexed as follows:
# previously estimated state: opt_p['_x_prev', _x_name] # previously estimated parameters: opt_p['_p_est_prev', _x_name] # known parameters opt_p['_p_set', _p_name] # time-varying parameters: opt_p['_tvp', time_step, _tvp_name] # sequence of measurements: opt_p['_y_meas', time_step, _y_name]
The names refer to those given in the
do_mpc.model.Modelconfiguration. Further indices are possible, if the variables are itself vectors or matrices.
Do not tweak or overwrite this attribute unless you known what you are doing.
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