Class attribute.


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.Model configuration. 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.


The attribute opt_x_num carries the scaled values of all variables. See opt_x_num_unscaled for 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 setup()

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