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804 lines
14 KiB
804 lines
14 KiB
{
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"code_export_directory": [
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"str"
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],
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"acados_include_path": [
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"str"
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],
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"cython_include_dirs": [
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"str"
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],
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"model": {
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"name" : [
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"str"
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],
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"dyn_ext_fun_type" : [
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"str"
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],
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"dyn_source_discrete" : [
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"str"
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],
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"dyn_disc_fun_jac_hess" : [
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"str"
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],
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"dyn_disc_fun_jac" : [
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"str"
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],
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"dyn_disc_fun" : [
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"str"
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],
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"gnsf" : {
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"nontrivial_f_LO": [
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"int"
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],
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"purely_linear": [
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"int"
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]
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}
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},
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"parameter_values": [
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"ndarray",
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[
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"np"
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]
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],
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"acados_lib_path": [
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"str"
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],
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"problem_class": [
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"str"
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],
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"constraints": {
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"constr_type": [
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"str"
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],
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"constr_type_e": [
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"str"
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],
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"lbx": [
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"ndarray",
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[
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"nbx"
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]
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],
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"lbu": [
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"ndarray",
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[
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"nbu"
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]
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],
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"ubx": [
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"ndarray",
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[
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"nbx"
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]
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],
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"ubu": [
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"ndarray",
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[
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"nbu"
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]
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"idxbx": [
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"ndarray",
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[
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"nbx"
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]
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],
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"idxbu": [
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"ndarray",
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[
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"nbu"
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]
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],
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"lbx_e": [
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"ndarray",
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[
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"nbx_e"
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]
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],
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"ubx_e": [
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"ndarray",
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[
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"nbx_e"
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]
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],
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"idxbx_e": [
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"ndarray",
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[
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"nbx_e"
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]
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],
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"lbx_0": [
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"ndarray",
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[
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],
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"ubx_0": [
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"ndarray",
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[
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"nbx_0"
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]
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],
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"idxbx_0": [
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"ndarray",
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[
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],
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"idxbxe_0": [
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"ndarray",
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[
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"nbxe_0"
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]
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],
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"lg": [
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"ndarray",
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[
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"ng"
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]
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],
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"ug": [
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"ndarray",
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[
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"ng"
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]
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],
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"D": [
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"ndarray",
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[
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"ng",
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"nu"
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]
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],
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"C": [
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"ndarray",
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[
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"ng",
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"nx"
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]
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],
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"C_e": [
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"ndarray",
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[
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"ng_e",
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"nx"
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]
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],
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"lg_e": [
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"ndarray",
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[
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"ng_e"
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]
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],
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"ug_e": [
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"ndarray",
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[
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"ng_e"
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]
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],
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"lh": [
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"ndarray",
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[
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"nh"
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]
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],
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"uh": [
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"ndarray",
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[
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"nh"
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]
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],
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"lh_e": [
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"ndarray",
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[
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"nh_e"
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]
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"uh_e": [
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"ndarray",
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[
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"nh_e"
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]
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],
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"lphi": [
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"ndarray",
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[
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"nphi"
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]
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],
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"uphi": [
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"ndarray",
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[
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"nphi"
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]
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],
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"lphi_e": [
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"ndarray",
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[
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"nphi_e"
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"uphi_e": [
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"ndarray",
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[
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"nphi_e"
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]
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],
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"lsbx": [
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"ndarray",
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[
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"nsbx"
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]
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],
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"usbx": [
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"ndarray",
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[
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"nsbx"
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]
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],
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"lsbu": [
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"ndarray",
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[
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"nsbu"
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]
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],
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"usbu": [
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"ndarray",
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[
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"nsbu"
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]
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],
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"idxsbx": [
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"ndarray",
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[
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"nsbx"
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]
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],
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"idxsbu": [
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"ndarray",
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[
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"nsbu"
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]
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],
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"lsbx_e": [
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"ndarray",
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[
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"nsbx_e"
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]
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],
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"usbx_e": [
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"ndarray",
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[
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"nsbx_e"
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]
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],
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"idxsbx_e": [
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"ndarray",
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[
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"nsbx_e"
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]
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],
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"lsg": [
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"ndarray",
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[
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"nsg"
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]
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],
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"usg": [
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"ndarray",
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[
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"nsg"
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]
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],
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"idxsg": [
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"ndarray",
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[
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"nsg"
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]
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],
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"lsg_e": [
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"ndarray",
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[
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"nsg_e"
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]
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],
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"usg_e": [
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"ndarray",
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[
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"nsg_e"
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]
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],
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"idxsg_e": [
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"ndarray",
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[
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"nsg_e"
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]
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],
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"lsh": [
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"ndarray",
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[
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"nsh"
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]
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"ush": [
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"ndarray",
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[
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"nsh"
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]
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"idxsh": [
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"ndarray",
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"nsh"
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"lsh_e": [
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"ush_e": [
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"idxsh_e": [
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[
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"nsh_e"
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],
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"lsphi": [
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"ndarray",
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[
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"nsphi"
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]
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],
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"usphi": [
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"ndarray",
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[
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"nsphi"
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]
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],
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"idxsphi": [
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"ndarray",
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[
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"nsphi"
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]
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],
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"lsphi_e": [
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"ndarray",
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[
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"nsphi_e"
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]
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],
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"usphi_e": [
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"ndarray",
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[
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"nsphi_e"
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]
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],
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"idxsphi_e": [
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"ndarray",
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[
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"nsphi_e"
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]
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]
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},
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"cost": {
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"cost_type_0": [
|
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"str"
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],
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"cost_type": [
|
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"str"
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],
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"cost_type_e": [
|
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"str"
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],
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"cost_ext_fun_type_0": [
|
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"str"
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],
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"cost_ext_fun_type": [
|
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"str"
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],
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"cost_ext_fun_type_e": [
|
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"str"
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],
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"Vu_0": [
|
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"ndarray",
|
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[
|
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"ny_0",
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"nu"
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]
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],
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"Vu": [
|
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"ndarray",
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[
|
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"ny",
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"nu"
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]
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],
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"Vx_0": [
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"ndarray",
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[
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"ny_0",
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"nx"
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]
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],
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"Vx": [
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"ndarray",
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[
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"ny",
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"nx"
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]
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],
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"Vx_e": [
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"ndarray",
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[
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"ny_e",
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"nx"
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]
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],
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"Vz_0": [
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"ndarray",
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[
|
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"ny_0",
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"nz"
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]
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],
|
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"Vz": [
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"ndarray",
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[
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"ny",
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"nz"
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]
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],
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"W_0": [
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"ndarray",
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[
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"ny_0",
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"ny_0"
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]
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],
|
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"W": [
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"ndarray",
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[
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"ny",
|
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"ny"
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]
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],
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"Zl": [
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"ndarray",
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[
|
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"ns"
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]
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],
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"Zu": [
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"ndarray",
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[
|
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"ns"
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]
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],
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"zl": [
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"ndarray",
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[
|
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"ns"
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]
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],
|
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"zu": [
|
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"ndarray",
|
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[
|
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"ns"
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]
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],
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"W_e": [
|
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"ndarray",
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[
|
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"ny_e",
|
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"ny_e"
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]
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],
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"yref_0": [
|
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"ndarray",
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[
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"ny_0"
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]
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],
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"yref": [
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"ndarray",
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[
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"ny"
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]
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],
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"yref_e": [
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"ndarray",
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[
|
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"ny_e"
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]
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],
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"Zl_e": [
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"ndarray",
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[
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"ns_e"
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]
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],
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"Zu_e": [
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"ndarray",
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[
|
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"ns_e"
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]
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],
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"zl_e": [
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"ndarray",
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[
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"ns_e"
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]
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],
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"zu_e": [
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"ndarray",
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[
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"ns_e"
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]
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]
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},
|
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"dims": {
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"N": [
|
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"int"
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],
|
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"nbu": [
|
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"int"
|
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],
|
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"nbx": [
|
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"int"
|
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],
|
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"nsbu": [
|
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"int"
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],
|
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"nsbx": [
|
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"int"
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],
|
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"nsbx_e": [
|
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"int"
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],
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"nbx_0": [
|
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"int"
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],
|
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"nbx_e": [
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"int"
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],
|
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"nbxe_0": [
|
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"int"
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],
|
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"nsg": [
|
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"int"
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],
|
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"nsg_e": [
|
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"int"
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],
|
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"nsh": [
|
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"int"
|
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],
|
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"nsh_e": [
|
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"int"
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],
|
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"nsphi": [
|
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"int"
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],
|
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"nsphi_e": [
|
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"int"
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],
|
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"ns": [
|
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"int"
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],
|
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"ns_e": [
|
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"int"
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],
|
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"ng": [
|
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"int"
|
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],
|
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"ng_e": [
|
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"int"
|
|
],
|
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"np": [
|
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"int"
|
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],
|
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"nr": [
|
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"int"
|
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],
|
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"nr_e": [
|
|
"int"
|
|
],
|
|
"nh": [
|
|
"int"
|
|
],
|
|
"nh_e": [
|
|
"int"
|
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],
|
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"nphi": [
|
|
"int"
|
|
],
|
|
"nphi_e": [
|
|
"int"
|
|
],
|
|
"nu": [
|
|
"int"
|
|
],
|
|
"nx": [
|
|
"int"
|
|
],
|
|
"ny": [
|
|
"int"
|
|
],
|
|
"ny_0": [
|
|
"int"
|
|
],
|
|
"ny_e": [
|
|
"int"
|
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],
|
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"nz": [
|
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"int"
|
|
],
|
|
"gnsf_nx1": [
|
|
"int"
|
|
],
|
|
"gnsf_nz1": [
|
|
"int"
|
|
],
|
|
"gnsf_nuhat": [
|
|
"int"
|
|
],
|
|
"gnsf_ny": [
|
|
"int"
|
|
],
|
|
"gnsf_nout": [
|
|
"int"
|
|
]
|
|
},
|
|
"solver_options": {
|
|
"time_steps": [
|
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"ndarray",
|
|
[
|
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"N"
|
|
]
|
|
],
|
|
"hessian_approx": [
|
|
"str"
|
|
],
|
|
"hpipm_mode": [
|
|
"str"
|
|
],
|
|
"regularize_method": [
|
|
"str"
|
|
],
|
|
"integrator_type": [
|
|
"str"
|
|
],
|
|
"nlp_solver_type": [
|
|
"str"
|
|
],
|
|
"collocation_type": [
|
|
"str"
|
|
],
|
|
"globalization": [
|
|
"str"
|
|
],
|
|
"nlp_solver_step_length": [
|
|
"float"
|
|
],
|
|
"levenberg_marquardt": [
|
|
"float"
|
|
],
|
|
"qp_solver": [
|
|
"str"
|
|
],
|
|
"tf": [
|
|
"float"
|
|
],
|
|
"Tsim": [
|
|
"float"
|
|
],
|
|
"alpha_min": [
|
|
"float"
|
|
],
|
|
"alpha_reduction": [
|
|
"float"
|
|
],
|
|
"line_search_use_sufficient_descent": [
|
|
"int"
|
|
],
|
|
"globalization_use_SOC": [
|
|
"int"
|
|
],
|
|
"full_step_dual": [
|
|
"int"
|
|
],
|
|
"eps_sufficient_descent": [
|
|
"float"
|
|
],
|
|
"sim_method_num_stages": [
|
|
"ndarray",
|
|
[
|
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"N"
|
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]
|
|
],
|
|
"sim_method_num_steps": [
|
|
"ndarray",
|
|
[
|
|
"N"
|
|
]
|
|
],
|
|
"sim_method_newton_iter": [
|
|
"int"
|
|
],
|
|
"sim_method_jac_reuse": [
|
|
"ndarray",
|
|
[
|
|
"N"
|
|
]
|
|
],
|
|
"qp_solver_cond_N": [
|
|
"int"
|
|
],
|
|
"qp_solver_warm_start": [
|
|
"int"
|
|
],
|
|
"qp_solver_tol_stat": [
|
|
"float"
|
|
],
|
|
"qp_solver_tol_eq": [
|
|
"float"
|
|
],
|
|
"qp_solver_tol_ineq": [
|
|
"float"
|
|
],
|
|
"qp_solver_tol_comp": [
|
|
"float"
|
|
],
|
|
"qp_solver_iter_max": [
|
|
"int"
|
|
],
|
|
"nlp_solver_tol_stat": [
|
|
"float"
|
|
],
|
|
"nlp_solver_tol_eq": [
|
|
"float"
|
|
],
|
|
"nlp_solver_tol_ineq": [
|
|
"float"
|
|
],
|
|
"nlp_solver_tol_comp": [
|
|
"float"
|
|
],
|
|
"nlp_solver_max_iter": [
|
|
"int"
|
|
],
|
|
"print_level": [
|
|
"int"
|
|
],
|
|
"initialize_t_slacks": [
|
|
"int"
|
|
],
|
|
"exact_hess_cost": [
|
|
"int"
|
|
],
|
|
"exact_hess_constr": [
|
|
"int"
|
|
],
|
|
"exact_hess_dyn": [
|
|
"int"
|
|
],
|
|
"ext_cost_num_hess": [
|
|
"int"
|
|
],
|
|
"model_external_shared_lib_dir": [
|
|
"str"
|
|
],
|
|
"model_external_shared_lib_name": [
|
|
"str"
|
|
]
|
|
}
|
|
}
|
|
|