constraints

class constraints

Class used to define the constraints of the optimnal control problem.

Support for nonlinear, linear and box constraints are implemented and provided.

To define the constraints, first, an empty object have to be created. Then the individual constraints can be added with the help of the methods add_bound() and add_constr().

Attributes

constraints.linear_constr	Collection of all linear constraints.
constraints.lower_bndend	Lower bound \(l_x \in \mathbb{R}^{nx}\) of the terminal state.
constraints.lower_bndu	Lower bound \(l_u \in \mathbb{R}^{nu}\) for the control.
constraints.lower_bndx	Lower bound \(l_x \in \mathbb{R}^{nx}\) of the state.
constraints.nonlinear_constr	Collection of all nonlinear constraints.
constraints.type	Indicating whether all constraints are linear.
constraints.upper_bndend	Upper bound \(u_x \in \mathbb{R}^{nx}\) of the terminal state.
constraints.upper_bndu	Upper bound \(u_u \in \mathbb{R}^{nu}\) of the control.
constraints.upper_bndx	Upper bound \(u_x \in \mathbb{R}^{nx}\) of the state.

Methods

constraints.add_bound	Add bounds as linear constraints to the OCP.
constraints.add_constr	Add linear or nonlinear constraints to the OCP.
constraints.add_terminalconstr	Add linear or nonlinear terminal constraints to the OCP.
constraints.load	Loads a nMPyC constraints object from a file.
constraints.save	Saving the constraints to a given file with dill.