opt_p¶
Class attribute.
-
MHE.
opt_p
¶ 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.Model
configuration. Further indices are possible, if the variables are itself vectors or matrices.Warning
Do not tweak or overwrite this attribute unless you known what you are doing.
Note
The attribute is populated when calling
setup()
orcreate_nlp()
.
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