nonlinear_constr

Class property.

constraints.nonlinear_constr

Collection of all nonlinear constraints.

This dictionary has the following form:

>>> nonlinear_constr = {'eq': [..], 'ineq': [..],
>>>                     'terminal_eq': [..], 'terminal_ineq': [..]}

In the lists contained in the dictionary the functions defining the constraints are saved. For example

>>> nonlinear_constr['eq'][0]

returns the function \(h(t,x,u)\) defining the first equality constraint

\[h(t,x,u) = 0.\]