Receding Horizon Update

Problem

Shift an MPC state trajectory forward one step after applying the first control.

Drop the first entry of xs and append x_new at the end. Return the new trajectory.

Hint

This is the classic warm start for the next MPC solve.

case 1

in: [[1,2,3],4]

expected: [2,3,4]

case 2

in: [[5],6]

expected: [6]

case 3

in: [[0,0],1]

expected: [0,1]

Starter codePython

def receding_horizon_update(xs, x_new):
    # Your code here
    pass

3 test cases · run your code against them in the editor