ocp_nlp_out related to?
I can not seem to find any variables with these names in the problem formulation: https://github.com/acados/acados/blob/master/docs/problem_formulation/problem_formulation_ocp_mex.pdf
From the getter documentation it says:
pi: multipliers for dynamics equality constraints
lam: multipliers for inequalities
t: slack variables corresponding to evaluation of all inequalities (at the solution)
sl: slack variables of soft lower inequality constraints
su: slack variables of soft upper inequality constraints
But unfortunately that didn’t make it any clearer.
Where does these variables enter the equations and what can we, as the general user, use these variables for?