nlp_cons¶
Class attribute.
-
Optimizer.
nlp_cons
¶ Query and modify (symbolically) the NLP constraints. Use the variables in
opt_x
andopt_p
.Prior to calling
create_nlp()
this attribute returns a list of symbolic constraints. After callingcreate_nlp()
this attribute returns the concatenation of this list and the attribute cannot be altered anymore.It is advised to append to the current list of
nlp_cons
:mpc.prepare_nlp() # Create new constraint: Input at timestep 0 and 1 must be identical. extra_cons = mpc.opt_x['_u', 0, 0]-mpc.opt_x['_u',1, 0] mpc.nlp_cons.append( extra_cons ) # Create appropriate upper and lower bound (here they are both 0 to create an equality constraint) mpc.nlp_cons_lb.append(np.zeros(extra_cons.shape)) mpc.nlp_cons_ub.append(np.zeros(extra_cons.shape)) mpc.create_nlp()
See the documentation of
opt_x
andopt_p
on how to query these attributes.Warning
This is a VERY low level feature and should be used with extreme caution. It is easy to break the code.
Be especially careful NOT to accidentially overwrite the default objective.
Note
Modifications must be done after calling
prepare_nlp()
and before callingcreate_nlp()
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