constraints
Constraint function of the optimal control problem.
Contents
Syntax
Description
Constraints of the optimal control problem in the form lb <= constraints(obj,y,x0,X,U) = g(y) <= ub.
Input Arguments
|
obj |
instance of class optimalControl |
|
y |
vector of optimization variables (double array of dimension [obj.idxVars.nVars,1]) |
|
x0 |
initial state |
|
X |
set of admissible states (class: polytope) |
|
U |
set of admissible control inputs (class:polytope) |
Output Arguments
|
cost |
value of constraint function evaluated at y (double / casadi SX symbolic) |
See Also
@optimalControl/computeConstraintIndices
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