def makeMhe(dae,N,dt):
from rawe.ocp import Ocp
mhe = Ocp(dae, N=N, ts=dt)
ocpOpts = rawe.OcpExportOptions()
ocpOpts['HESSIAN_APPROXIMATION'] = 'GAUSS_NEWTON'
ocpOpts['DISCRETIZATION_TYPE'] = 'MULTIPLE_SHOOTING'
ocpOpts['QP_SOLVER'] = 'QP_QPOASES'
ocpOpts['HOTSTART_QP'] = False
ocpOpts['SPARSE_QP_SOLUTION'] = 'CONDENSING'
# ocpOpts['SPARSE_QP_SOLUTION'] = 'FULL_CONDENSING_U2'
# ocpOpts['AX_NUM_QP_ITERATIONS'] = '30'
ocpOpts['FIX_INITIAL_STATE'] = False
# mhe.minimizeLsq(C.veccat([mhe['x'],mhe['u']]))
# mhe.minimizeLsqEndTerm(C.veccat([mhe['x']]))
mhe.minimizeLsq(mhe['measurements'])
mhe.minimizeLsqEndTerm(mhe['measurementsN'])
cgOpts = {'CXX':'g++', 'CC':'gcc'}
print "makeMhe calling rawe.OcpRT"
return rawe.OcpRT(mhe, ocpOptions=ocpOpts, integratorOptions=intOpts,
codegenOptions=cgOpts)
