Need for a dynamicSystem class

[mzanon]

The new class should build on top of the dae class and extend its functionalities:

• have a field called measurements (and potentially a field last measurements for ACADO Codegen) to collect all the measured outputs
• have an integrator associated to it (potentially even different ones for MPC, MHE and simulation)
• allow for some model options (add invariant stabilization only for the simulation, potentially add some controls for MHE -> to model perturbations)

[ghorn]

Sounds like you want a MpcMheSim class

[mzanon]

Yeah, I was thinking about that as well actually... though all what I stated previously is mostly related to dynamical systems, also the integrator is just a conversion to discrete time. Maybe the dynamicSystem should then be wrapped in MpcMheSim to add functionalities related to code gen, shifting, arrival cost update, lqr and so on