Full MHE solution and initial guess.
This is the core attribute of the MHE class. It is used as the initial guess when solving the optimization problem and then overwritten with the current solution.
The attribute is a CasADi numeric structure with nested power indices. It can be indexed as follows:
# dynamic states: opt_x_num['_x', time_step, collocation_point, _x_name] # algebraic states: opt_x_num['_z', time_step, collocation_point, _z_name] # inputs: opt_x_num['_u', time_step, _u_name] # estimated parameters: opt_x_Num['_p_est', _p_names] # slack variables for soft constraints: opt_x_num['_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 manually set a custom initial guess or for debugging purposes.
opt_x_numcarries the scaled values of all variables. See
opt_x_num_unscaledfor the unscaled values (these are not used as the initial guess).
Do not tweak or overwrite this attribute unless you known what you are doing.
The attribute is populated when calling
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