Changing the cost function

Greetings! Is it possible to change the parameters passed to the cost function at every shooting node without using “solver parameter”. In other words, could i make changes on cost function without parameters solver?

Thanks in advance.

If you want to change the cost function without solver parameters, you have to use either LINEAR_LS or NONLINEAR_LS cost formulations.
Then you can update the weight matrix W and the reference vector y_ref at each shooting node individually.

Thanks @FreyJo for answer.