Class method.


Initial guess for optimization variables. Uses the current class attributes x0, z0 and u0, p_est0 to create an initial guess for the MHE. The initial guess is simply the initial values for all \(k=0,\dots,N\) instances of \(x_k\), \(u_k\) and \(z_k\), \(p_{\text{est,k}}\).


If no initial values for x0, z0 and u0 were supplied during setup, these default to zero.


The initial guess is fully customizable by directly setting values on the class attribute: opt_x_num.

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