def __init__(self, dae, nSteps):
# check inputs
assert isinstance(dae, Dae)
assert isinstance(nSteps, int)
# make sure dae has everything
assert hasattr(dae, '_residual')
self.dae = dae
self.dae._freeze('MultipleShootingStage(dae)')
# set up design vars
self.nSteps = nSteps
self.states = C.msym("x", self.nStates(), self.nSteps)
self.actions = C.msym("u", self.nActions(), self.nSteps)
self.params = C.msym("p", self.nParams())
# self._dvs = C.msym("dv",self.nStates()*self.nSteps+self.nActions()*self.nSteps+self.nParams())
#
# numXVars = self.nStates()*self.nSteps
# numUVars = self.nActions()*self.nSteps
# numPVars = self.nParams()
#
# self.states = C.reshape(self._dvs[:numXVars], [self.nStates(), self.nSteps])
# self.actions = C.reshape(self._dvs[numXVars:numXVars+numUVars], [self.nActions(), self.nSteps])
# self.params = self._dvs[numXVars+numUVars:]
#
# assert self.states.size() == numXVars
# assert self.actions.size() == numUVars
# assert self.params.size() == numPVars
# set up interface
self._constraints = Constraints()
self._bounds = Bounds(self.dae._xNames, self.dae._uNames,
self.dae._pNames, self.nSteps)
self._initialGuess = InitialGuess(self.dae._xNames, self.dae._uNames,
self.dae._pNames, self.nSteps)
self._designVars = DesignVars(
(self.dae._xNames, self.states), (self.dae._uNames, self.actions),
(self.dae._pNames, self.params), self.nSteps)
