Add parameters, fix terminal cost, add bounds on x #12
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nurkanovic
reviewed
Jan 5, 2023
| # either provide single parameter vector | ||
| p_val = np.concatenate((np.array([1.0, 0.1]), x_ref_val)) | ||
| # or matrix (one parameter vector for each control stage) | ||
| p_val = np.tile(p_val, (opts.N_stages, 1)) |
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Do we really need to copy the parameter values over all stages manually?
After some thinking, I would still prefer say p_global_val, p_time_var_val
and p_global and p_time_var over p
(and, of course, put them together and copy the values in the solver construction)
|
The comment above is my only concern. Otherwise, LGTM. |
apozharski
approved these changes
Jan 5, 2023
nurkanovic
approved these changes
Jan 5, 2023
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