nmpc_ddp: nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData Struct Reference

nmpc_ddp

Data to trace optimization loop. More...

#include <DDPSolver.h>

Public Attributes
int	iter = 0
	Iteration of optimization loop. More...

double	cost = 0
	Total cost. More...

double	lambda = 0
	Regularization coefficient. More...

double	dlambda = 0
	Scaling factor of regularization coefficient. More...

double	alpha = 0
	Scaling factor of k. More...

double	k_rel_norm = 0
	Norm of relative values of k and u. More...

double	cost_update_actual = 0
	Actual update value of cost. More...

double	cost_update_expected = 0
	Expected update value of cost. More...

double	cost_update_ratio = 0
	Ratio of actual and expected update values of cost. More...

double	duration_derivative = 0
	Duration to calculate derivatives [msec]. More...

double	duration_backward = 0
	Duration to process backward pass [msec]. More...

double	duration_forward = 0
	Duration to process forward pass [msec]. More...

Detailed Description

template<int StateDim, int InputDim>
struct nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData

Data to trace optimization loop.

Definition at line 179 of file DDPSolver.h.

Member Data Documentation

◆ alpha

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::alpha = 0

Scaling factor of k.

Definition at line 194 of file DDPSolver.h.

◆ cost

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::cost = 0

Total cost.

Definition at line 185 of file DDPSolver.h.

◆ cost_update_actual

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::cost_update_actual = 0

Actual update value of cost.

Definition at line 200 of file DDPSolver.h.

◆ cost_update_expected

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::cost_update_expected = 0

Expected update value of cost.

Definition at line 203 of file DDPSolver.h.

◆ cost_update_ratio

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::cost_update_ratio = 0

Ratio of actual and expected update values of cost.

Definition at line 206 of file DDPSolver.h.

◆ dlambda

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::dlambda = 0

Scaling factor of regularization coefficient.

Definition at line 191 of file DDPSolver.h.

◆ duration_backward

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::duration_backward = 0

Duration to process backward pass [msec].

Definition at line 212 of file DDPSolver.h.

◆ duration_derivative

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::duration_derivative = 0

Duration to calculate derivatives [msec].

Definition at line 209 of file DDPSolver.h.

◆ duration_forward

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::duration_forward = 0

Duration to process forward pass [msec].

Definition at line 215 of file DDPSolver.h.

◆ iter

template<int StateDim, int InputDim>

int nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::iter = 0

Iteration of optimization loop.

Definition at line 182 of file DDPSolver.h.

◆ k_rel_norm

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::k_rel_norm = 0

Norm of relative values of k and u.

Definition at line 197 of file DDPSolver.h.

◆ lambda

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::TraceData::lambda = 0

Regularization coefficient.

Definition at line 188 of file DDPSolver.h.

The documentation for this struct was generated from the following file:

/home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_ddp/include/nmpc_ddp/DDPSolver.h