Here I come again with a question regarding the acados problem formulation.
So far, I happily found that I can use external dynamics and costs from CasADi functions, which is great! Now, a perhaps harder question comes to mind:
Is it possible to specify constraints that are active only in specific steps of the Receding Horizon (RH)? The closes I found was this thread, in particular,
ocp.set('cost_y_ref', yr, i)seems to set the parameter for horizon i, so I could do the same with
ocp.set('lbx', bnd, i)to set the lower bound for X at stage i ? How does the interface work?
In the same way, is it possible to set external parameters to be used in specific RH steps?
Thanks a lot!