Youssef Elshebani - 2022-07-13

Hi,
total nube question

what I need is to constraint my optimization control problem such that
the value at the end of the - the value the beginning is zero
lets say we have a differential state x
i want to express this
ocp.subjectTo (x(T) - x(0) =0)

how can I implement this in acado. I looked over the subjectTo method there is one thing I didn't understand and kind of hoping its what I need
* ocp.subjectTo( 0.0, r , -r , 0.0 );
Adds a constraint of the form lb_ <= arg1(0) + arg_2(T) <= ub with
constant lower and upper bounds. 

   can someone highlight the meaning of having the constraint in this manner and/or answer my original question if they have another way to achieve it


   please dont suggest using the state at start equal zero and at end equal zero, as my states should have values at the start and end but it should be the same.