Time dependent constraints

Hi :wave:

I’m new to acados and I’m trying to set up a controller in python which is able to avoid dynamic obstacles. I was wondering if there was a way to make the constraint expression h time dependent ?

The idea would be to give the obstacles velocity as a parameter and to en sure that the obstacles’ positions are always accurate, I would like to update them across a horizon.

Hope this is clear enough!

Using parameters and updating them stage wise, as you mentioned should work!

Good luck!