|
nmpc_fmpc
|
Coefficients of linearized KKT condition. More...
#include <FmpcSolver.h>
Public Member Functions | |
| Coefficient (int state_dim, int input_dim, int ineq_dim) | |
| Constructor. More... | |
| Coefficient (int state_dim) | |
| Constructor for terminal coefficient. More... | |
| bool | containsNaN () const |
| Check whether NaN or infinity is containd. More... | |
Public Attributes | |
| StateStateDimMatrix | A |
| First-order derivative of state equation w.r.t. state. More... | |
| StateInputDimMatrix | B |
| First-order derivative of state equation w.r.t. input. More... | |
| IneqStateDimMatrix | C |
| First-order derivative of inequality constraints w.r.t. state. More... | |
| IneqInputDimMatrix | D |
| First-order derivative of inequality constraints w.r.t. input. More... | |
| StateDimVector | Lx |
| First-order derivative of running cost w.r.t. state. More... | |
| InputDimVector | Lu |
| First-order derivative of running cost w.r.t. input. More... | |
| StateStateDimMatrix | Lxx |
| Second-order derivative of running cost w.r.t. state. More... | |
| InputInputDimMatrix | Luu |
| Second-order derivative of running cost w.r.t. input. More... | |
| StateInputDimMatrix | Lxu |
| Second-order derivative of running cost w.r.t. state and input. More... | |
| InputDimVector | k |
| Feedforward term for input. More... | |
| InputStateDimMatrix | K |
| Feedback gain for input w.r.t. state error. More... | |
| StateDimVector | s |
| Offset vector for lambda calculation. More... | |
| StateStateDimMatrix | P |
| Coefficient matrix for lambda calculation. More... | |
| int | print_level = 1 |
| Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose) More... | |
| StateDimVector | x_bar |
| IneqDimVector | g_bar |
| StateDimVector | Lx_bar |
| InputDimVector | Lu_bar |
Coefficients of linearized KKT condition.
Definition at line 161 of file FmpcSolver.h.
| nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Coefficient | ( | int | state_dim, |
| int | input_dim, | ||
| int | ineq_dim | ||
| ) |
Constructor.
| state_dim | state dimension |
| input_dim | input dimension |
| ineq_dim | inequality dimension |
Definition at line 98 of file FmpcSolver.hpp.
| nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Coefficient | ( | int | state_dim | ) |
Constructor for terminal coefficient.
| state_dim | state dimension |
Definition at line 123 of file FmpcSolver.hpp.
| bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::containsNaN |
Check whether NaN or infinity is containd.
Definition at line 134 of file FmpcSolver.hpp.
| StateStateDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::A |
First-order derivative of state equation w.r.t. state.
Definition at line 181 of file FmpcSolver.h.
| StateInputDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::B |
First-order derivative of state equation w.r.t. input.
Definition at line 184 of file FmpcSolver.h.
| IneqStateDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::C |
First-order derivative of inequality constraints w.r.t. state.
Definition at line 187 of file FmpcSolver.h.
| IneqInputDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::D |
First-order derivative of inequality constraints w.r.t. input.
Definition at line 190 of file FmpcSolver.h.
| IneqDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::g_bar |
Linearization offsets
Definition at line 210 of file FmpcSolver.h.
| InputDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::k |
Feedforward term for input.
Definition at line 216 of file FmpcSolver.h.
| InputStateDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::K |
Feedback gain for input w.r.t. state error.
Definition at line 219 of file FmpcSolver.h.
| InputDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Lu |
First-order derivative of running cost w.r.t. input.
Definition at line 196 of file FmpcSolver.h.
| InputDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Lu_bar |
Linearization offsets
Definition at line 212 of file FmpcSolver.h.
| InputInputDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Luu |
Second-order derivative of running cost w.r.t. input.
Definition at line 202 of file FmpcSolver.h.
| StateDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Lx |
First-order derivative of running cost w.r.t. state.
Definition at line 193 of file FmpcSolver.h.
| StateDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Lx_bar |
Linearization offsets
Definition at line 211 of file FmpcSolver.h.
| StateInputDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Lxu |
Second-order derivative of running cost w.r.t. state and input.
Definition at line 205 of file FmpcSolver.h.
| StateStateDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::Lxx |
Second-order derivative of running cost w.r.t. state.
Definition at line 199 of file FmpcSolver.h.
| StateStateDimMatrix nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::P |
Coefficient matrix for lambda calculation.
Definition at line 225 of file FmpcSolver.h.
| int nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::print_level = 1 |
Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose)
Definition at line 228 of file FmpcSolver.h.
| StateDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::s |
Offset vector for lambda calculation.
Definition at line 222 of file FmpcSolver.h.
| StateDimVector nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Coefficient::x_bar |
Linearization offsets
Definition at line 209 of file FmpcSolver.h.
1.8.17