nmpc_fmpc Namespace Reference

Classes
class	FmpcProblem
	Fast MPC problem. More...
class	FmpcSolver
	FMPC solver. More...

Functions
template<int InputDim, int OutputDim>
double	l1NormDirectionalDeriv (const Eigen::Matrix< double, OutputDim, 1 > &func, const Eigen::Matrix< double, OutputDim, InputDim > &jac, const Eigen::Matrix< double, InputDim, 1 > &dir)
	Compute the directional derivative of the L1-norm of the function. More...

Function Documentation

l1NormDirectionalDeriv()

template<int InputDim, int OutputDim>

double nmpc_fmpc::l1NormDirectionalDeriv	(	const Eigen::Matrix< double, OutputDim, 1 > &	func,
		const Eigen::Matrix< double, OutputDim, InputDim > &	jac,
		const Eigen::Matrix< double, InputDim, 1 > &	dir
	)

Compute the directional derivative of the L1-norm of the function.

Parameters

func	function value
jac	jacobian matrix of function
dir	direction for directional derivative

See (A.51) in "J Nocedal, S J Wright. Numerical optimization".

Definition at line 17 of file MathUtils.h.