type

Class property.

objective.type

Indicating whether the objective is quadratic or nonlinear.

If LQP, the objective is quadratic. Then the stage cost is given by

\[\ell(x,u) = x^TQx + u^TRu + 2x^TNx.\]

and the terminal cost is given by

\[F(x) = x^TPx.\]

It also implies that the system is autonomous.

If the objective is not initialized as quadratic function with the LQP() method this attribute holds the value NLP.