Adding constraints to parameters alone

[jbuzhar]

Hello,

I am new to the toolbox and was trying to implement it on my own problem after looking through the examples. I would like to add a convex constraint to a parameter, p. This constraint is not a function of the states or controls -- only the parameter. A simple example might be that I want to provide an upper or lower bound on the final time in a free final time formulation. Is there a nice way to implement such a constraint using the toolbox?

At first I was thinking that I could use problem_set_X! or problem_set_U! to add these, but these appear to add N constraints to the problem, one for each timestep, which is unnecessary in my case since the parameter constraint should only be added once. Is there a better way to do this?

Thanks,

Jake