set_initial_guess¶
Class method.
-
do_mpc.controller.MPC.
set_initial_guess
(self)¶ Initial guess for optimization variables. Uses the current class attributes
x0
,z0
andu0
to create the initial guess. The initial guess is simply the initial values for all \(k=0,\dots,N\) instances of \(x_k\), \(u_k\) and \(z_k\).Note
The initial guess is fully customizable by directly setting values on the class attribute:
opt_x_num
.
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