Fast MPC problem. More...
#include <FmpcProblem.h>
Inheritance diagram for nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >:
Collaboration diagram for nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >:
Public Types | |
| using | StateDimVector = typename nmpc_ddp::DDPProblem< StateDim, InputDim >::StateDimVector |
| Type of vector of state dimension. More... | |
| using | InputDimVector = typename nmpc_ddp::DDPProblem< StateDim, InputDim >::InputDimVector |
| Type of vector of input dimension. More... | |
| using | IneqDimVector = Eigen::Matrix< double, IneqDim, 1 > |
| Type of vector of inequality dimension. More... | |
| using | StateStateDimMatrix = typename nmpc_ddp::DDPProblem< StateDim, InputDim >::StateStateDimMatrix |
| Type of matrix of state x state dimension. More... | |
| using | InputInputDimMatrix = typename nmpc_ddp::DDPProblem< StateDim, InputDim >::InputInputDimMatrix |
| Type of matrix of input x input dimension. More... | |
| using | StateInputDimMatrix = typename nmpc_ddp::DDPProblem< StateDim, InputDim >::StateInputDimMatrix |
| Type of matrix of state x input dimension. More... | |
| using | InputStateDimMatrix = typename nmpc_ddp::DDPProblem< StateDim, InputDim >::InputStateDimMatrix |
| Type of matrix of input x state dimension. More... | |
| using | IneqStateDimMatrix = Eigen::Matrix< double, IneqDim, StateDim > |
| Type of matrix of inequality x state dimension. More... | |
| using | IneqInputDimMatrix = Eigen::Matrix< double, IneqDim, InputDim > |
| Type of matrix of inequality x input dimension. More... | |
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | FmpcProblem (double dt) |
| Constructor. More... | |
| virtual int | ineqDim () const |
| Gets the inequality dimension. More... | |
| virtual int | ineqDim (double) const |
| Gets the inequality dimension. More... | |
| virtual IneqDimVector | ineqConst (double t, const StateDimVector &x, const InputDimVector &u) const =0 |
| Calculate inequality constraints. More... | |
| virtual void | calcIneqConstDeriv (double t, const StateDimVector &x, const InputDimVector &u, Eigen::Ref< IneqStateDimMatrix > ineq_const_deriv_x, Eigen::Ref< IneqInputDimMatrix > ineq_const_deriv_u) const =0 |
| Calculate first-order derivatives of inequality constraints. More... | |
Detailed Description
template<int StateDim, int InputDim, int IneqDim>
class nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >
Fast MPC problem.
- Template Parameters
-
StateDim state dimension (fixed only) InputDim input dimension (fixed or dynamic (i.e., Eigen::Dynamic)) IneqDim inequality dimension (fixed or dynamic (i.e., Eigen::Dynamic))
Definition at line 15 of file FmpcProblem.h.
Member Typedef Documentation
◆ IneqDimVector
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::IneqDimVector = Eigen::Matrix<double, IneqDim, 1> |
Type of vector of inequality dimension.
Definition at line 25 of file FmpcProblem.h.
◆ IneqInputDimMatrix
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::IneqInputDimMatrix = Eigen::Matrix<double, IneqDim, InputDim> |
Type of matrix of inequality x input dimension.
Definition at line 43 of file FmpcProblem.h.
◆ IneqStateDimMatrix
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::IneqStateDimMatrix = Eigen::Matrix<double, IneqDim, StateDim> |
Type of matrix of inequality x state dimension.
Definition at line 40 of file FmpcProblem.h.
◆ InputDimVector
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::InputDimVector = typename nmpc_ddp::DDPProblem<StateDim, InputDim>::InputDimVector |
Type of vector of input dimension.
Definition at line 22 of file FmpcProblem.h.
◆ InputInputDimMatrix
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::InputInputDimMatrix = typename nmpc_ddp::DDPProblem<StateDim, InputDim>::InputInputDimMatrix |
Type of matrix of input x input dimension.
Definition at line 31 of file FmpcProblem.h.
◆ InputStateDimMatrix
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::InputStateDimMatrix = typename nmpc_ddp::DDPProblem<StateDim, InputDim>::InputStateDimMatrix |
Type of matrix of input x state dimension.
Definition at line 37 of file FmpcProblem.h.
◆ StateDimVector
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::StateDimVector = typename nmpc_ddp::DDPProblem<StateDim, InputDim>::StateDimVector |
Type of vector of state dimension.
Definition at line 19 of file FmpcProblem.h.
◆ StateInputDimMatrix
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::StateInputDimMatrix = typename nmpc_ddp::DDPProblem<StateDim, InputDim>::StateInputDimMatrix |
Type of matrix of state x input dimension.
Definition at line 34 of file FmpcProblem.h.
◆ StateStateDimMatrix
template<int StateDim, int InputDim, int IneqDim>
| using nmpc_fmpc::FmpcProblem< StateDim, InputDim, IneqDim >::StateStateDimMatrix = typename nmpc_ddp::DDPProblem<StateDim, InputDim>::StateStateDimMatrix |
Type of matrix of state x state dimension.
Definition at line 28 of file FmpcProblem.h.
Constructor & Destructor Documentation
◆ FmpcProblem()
template<int StateDim, int InputDim, int IneqDim>
|
inline |
Constructor.
- Parameters
-
dt discretization timestep [sec]
Definition at line 51 of file FmpcProblem.h.
Member Function Documentation
◆ calcIneqConstDeriv()
template<int StateDim, int InputDim, int IneqDim>
|
pure virtual |
Calculate first-order derivatives of inequality constraints.
- Parameters
-
t time [sec] x state u input ineq_const_deriv_x first-order derivative of inequality constraints w.r.t. state ineq_const_deriv_u first-order derivative of inequality constraints w.r.t. input
◆ ineqConst()
template<int StateDim, int InputDim, int IneqDim>
|
pure virtual |
Calculate inequality constraints.
- Parameters
-
t time [sec] x current state u current input
- Returns
- inequality constraints that must be less than or equal to zero
◆ ineqDim() [1/2]
template<int StateDim, int InputDim, int IneqDim>
|
inlinevirtual |
Gets the inequality dimension.
- Note
- If inequality dimension is dynamic, this must not be called. Instead, ineqDim(t) must be called passing time as a parameter.
Definition at line 62 of file FmpcProblem.h.
◆ ineqDim() [2/2]
template<int StateDim, int InputDim, int IneqDim>
|
inlinevirtual |
Gets the inequality dimension.
- Parameters
-
t time
- Note
- If inequality dimension is dynamic, this must be overridden.
Definition at line 75 of file FmpcProblem.h.
The documentation for this class was generated from the following file:
- /home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_fmpc/include/nmpc_fmpc/FmpcProblem.h
