yunlongxu-numagic
commented
2 years ago It probably makes sense that residuals are a property of models, rather than configs.
Imagine a vehicle with 2 variants of differential models, one is a DAE with 1 residual, the other is ODE without residuals.
- We would like to do OCP with the same model, change differential variant, WITHOUT having to change sim configs!
- We would like to have any model that contains such DAE sub models to automatically include the residuals in the equations to solve
like outputs, making the residual collection automatic is also quite helpful.
There are a few possibilities on how we can do it: 1) do it just like the outputs 2) make residuals work like con_outputs, that they are just collected from model outputs (so the model outputs must include the residuals as well)