Class method.


Call the CasADi simulator.


simulate() can be used as part of the public API but is typically called from within make_step() which wraps this method and sets the required values to the sim_x_num and sim_p_num structures automatically.

Numerical values for sim_x_num and sim_p_num need to be provided beforehand in order to simulate the system for one time step:

  • states sim_c_num['_x']
  • algebraic states sim_z_num['_z']
  • inputs sim_p_num['_u']
  • parameter sim_p_num['_p']
  • time-varying parameters sim_p_num['_tvp']

The function returns the new state of the system.

Return type:numpy array

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