Hi,

I have the following problem. I am trying to solve the optimal control problem that has a tree structure. For example, I start with the current state and I make two branches from there. In the next step I have two nodes. From each of those nodes I make two new branches so that in the next stage I have four nodes and so on. I connect to each of these nodes an input variable that I want to use as an optimization variable and noise variables that are parameters in the problem. Is it possible to formulate a problem using acados where at each stage I would have different number of optimization variables and different number of parameters (with different values)? In general, can acados be used to optimize such a tree structure where I would define the problem stage by stage?