I’d like to ask how to set
con_r_expr when adding convex-over-nonlinear constraints.
For a simple example, let’s say we have 3 state variables x_1, x_2, x_3. I want to set 2 constraints: x_1^2 + x_2^2 \leq 1 and x_2^2 + x_3^2 \leq 2.
First, I’d like to confirm does these 2 constraints satisfy the requirements of convex-over-nonlinear? I think it does because taking the 2-norm is a convex function.
Second, if the answer is yes, how should I express
con_r_expr in Python interface?
Any help will be much appreciated! Besides, it would be nice if you tell if there’s any example containing convex-over-nonlinear constraints in the acados repo. Thanks!