code: def create_function_f_c(self):
          
          return ca.Function(
              'f_c',
              [self.t, self.x, self.y, self.m, self.p, self.ng, self.nu],
              [self.f_c],
              ['t', 'x', 'y', 'm', 'p', 'ng', 'nu'], ['c'], self.func_opt)
docs: condition function