Build a model that takes prev shooting node's x and u as param

[kaethe]

Hi

The acados formulation does not allow coupling between stages, i.e. the cost and constraints at stage n can only depend on x_n and u_n. To allow coupling you will need to augment your model, see:

Using x_pre to add in the current x constraints

Hello! I’d like to set a constraint, and it’s a pa…

Hope this is helpful!
Katrin