Hi,

if anyone has the ideal, if I would like to set a constrain for a state between different time steps,

e.g.

```
x(t) - x(t+1) <= $\lambda$ [\lambda is not a function of x, but it should be estimated during the OCP]
```

Furthermore, if \lambda has a more complex structure, like \lambda(t, i). Should I set the \lambda as a state with the dimension ca.SX.sym(‘lambda’, N, I) or just ca.SX.sym(‘lambda’, I)?

Thanks