Optimizer

class do_mpc.optimizer.Optimizer

The base clase for the optimization based state estimation (MHE) and predictive controller (MPC). This class establishes the jointly used attributes, methods and properties.

Warning

The Optimizer base class can not be used independently.

Attributes

Optimizer.bounds	Query and set bounds of the optimization variables.
Optimizer.lb_opt_x	Query and modify the lower bounds of all optimization variables opt_x.
Optimizer.nlp_cons	Query and modify (symbolically) the NLP constraints.
Optimizer.nlp_cons_lb	Query and modify the lower bounds of the nlp_cons.
Optimizer.nlp_cons_ub	Query and modify the upper bounds of the nlp_cons.
Optimizer.nlp_obj	Query and modify (symbolically) the NLP objective function.
Optimizer.scaling	Query and set scaling of the optimization variables.
Optimizer.ub_opt_x	Query and modify the lower bounds of all optimization variables opt_x.

Methods

Optimizer.create_nlp	Create the optimization problem.
Optimizer.get_tvp_template	Obtain output template for set_tvp_fun().
Optimizer.prepare_nlp	Prepare the optimization problem.
Optimizer.reset_history	Reset the history of the optimizer.
Optimizer.set_nl_cons	Introduce new constraint to the class.
Optimizer.set_tvp_fun	Set function which returns time-varying parameters.
Optimizer.solve	Solves the optmization problem.

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