Hi.

What is `pi`

, `lam`

and `t`

from `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 didnâ€™t make it any clearer.

Where does these variables enter the equations and what can we, as the general user, use these variables for?

Regards Thomas