MHE using Python interface

Feature Requests implemented
1

Hi guys! Is it possible to use acados to solve a MHE problem using Python? Is there any example available?

Thanks in advance!

2

Hi @gmsanchez,

It is in principle possible to solve MHE problems with acados, but we would need to add the possibility to leave x0 unconstrained (which is possible from the C interface - simply this is not a feature in the high-level interfaces yet). However, we should definitely implement this asap!

Cheers,
Andrea

1 Like
3

Hi @gmsanchez

There is now an MHE example for Python, thanks to @kaethe
It is in examples/acados_python/getting_started/minimal_example_mhe.py on the master branch.
https://github.com/acados/acados/blob/master/examples/acados_python/getting_started/minimal_example_mhe.py

Best,
Jonathan

1 Like
4

Hi @FreyJo

Wow! That was unexpected. Thanks a lot for providing an example. I will try it ASAP.