get_p_template

Class method.

do_mpc.estimator.MHE.get_p_template(self)

Obtain output template for set_p_fun(). This is used to set the (not estimated) parameters. Use this structure as the return of a user defined parameter function (p_fun) that is called at each MHE step. Pass this function to the MHE by calling set_p_fun().

Note

The combination of get_p_template() and set_p_fun() is identical to the do_mpc.simulator.Simulator methods, if the MHE is not estimating any parameters.

Returns:p_template Return type:struct_symSX

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