Full structure of the (symbolic) MHE optimization variables.
The attribute is a CasADi numeric structure with nested power indices. It can be indexed as follows:
# dynamic states: opt_x['_x', time_step, collocation_point, _x_name] # algebraic states: opt_x['_z', time_step, collocation_point, _z_name] # inputs: opt_x['_u', time_step, _u_name] # estimated parameters: opt_x_Num['_p_est', _p_names] # slack variables for soft constraints: opt_x['_eps', time_step, _nl_cons_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.
The attribute can be used to alter the objective function or constraints of the NLP.
opt_xcarries the scaled values of all variables.
Do not tweak or overwrite this attribute unless you known what you are doing.
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