Hi,

I am employing acados to compute the optimal inputs for humanoid gait generation in a NL-MPC framework.

Input signals are the solution of an optimization problem and are assumed to be piecewise-constant.

My nonlinear constraint involves the values of the input signals in each time interval ( up to the end of the prediction horizon ). In particular, it is a summation of terms where the i-th term involves the value that the input to be optimized takes in the interval [t_{k+i}, t_{k+i+1}).

It seems to me then that SX.sym(βinputβ) does not fit my problem. Is there a way to model this in acados/casadi?

Thank you,

Barbara