Warm starting constraints

User Questions
1

Hi Team,
I am trying add CBF constraints for my quadrotor dynamics. I want to give warm start for my constraints values but not to the state of the dynamics. However, I am not sure how to do this.

  1. I have created a function using Casadi NLP solver, to calculate initial values for constraints and its Lagrange multipliers. I want to set these values before every optimization call.
    Should I call this function Acados controller setup? But then will it get called in every shooting node, or 1’s before every optimization or only 1’s while initializing control setup.
    Does Acados call all the functions inside the controller setup in every shooting node?

  2. Also, for the Lagrangian multipliers of constraints, should I create new symbolic variables or set those as parameters?

Best,
Swati