Setting x_0 in Python AcadosOcpSolver

User Questions
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1

Hi !

I’m working on an MHE algorithm with ACADOS in Python. For that purpose I would like to be able to change the value of AcadosOcp.constraints.x_0 before solving it again. I guess the right function to be used should be AcadosOcpSolver.constraint_set(). However in this function the only admissible fields are currently [‘lbx’, ‘ubx’, ‘lbu’, ‘ubu’]. Is there a reason why we cannot change x_0 on the fly or is that possible to add this functionality to Python interface ?

Thanks,

François

2

Hi François,

the initial condition is internally realized through the bounds lbx, ubx at the intial stage 0.
Thus, updating the initial condition works like this:

Best,
Jonathan