nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration Struct Reference

Configuration. More...

#include <FmpcSolver.h>

Public Attributes
int	print_level = 1
	Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose) More...
int	horizon_steps = 100
	Number of steps in horizon. More...
int	max_iter = 10
	Maximum iteration of optimization loop. More...
double	kkt_error_thre = 1e-4
	Threshold of KKT condition error. More...
bool	check_nan = true
	Whether to check NaN. More...
bool	init_complementary_variable = false
	Whether to initialize complementarity variables. More...
bool	update_barrier_eps = true
	Whether to update barrier parameter. More...
bool	break_if_llt_fails = false
	Whether to break if LLT decomposition fails. More...
bool	enable_line_search = false
	Whether to enable line search. More...
bool	merit_const_scale_from_lagrange_multipliers = false
	Whether to calculate the scale of constraint errors in the merit function from Lagrange multipliers. More...

Detailed Description

template<int StateDim, int InputDim, int IneqDim>
struct nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration

Configuration.

Definition at line 58 of file FmpcSolver.h.

Member Data Documentation

break_if_llt_fails

template<int StateDim, int InputDim, int IneqDim>

bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::break_if_llt_fails = false

Whether to break if LLT decomposition fails.

Definition at line 82 of file FmpcSolver.h.

check_nan

template<int StateDim, int InputDim, int IneqDim>

bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::check_nan = true

Whether to check NaN.

Definition at line 73 of file FmpcSolver.h.

enable_line_search

template<int StateDim, int InputDim, int IneqDim>

bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::enable_line_search = false

Whether to enable line search.

Definition at line 85 of file FmpcSolver.h.

horizon_steps

template<int StateDim, int InputDim, int IneqDim>

int nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::horizon_steps = 100

Number of steps in horizon.

Definition at line 64 of file FmpcSolver.h.

init_complementary_variable

template<int StateDim, int InputDim, int IneqDim>

bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::init_complementary_variable = false

Whether to initialize complementarity variables.

Definition at line 76 of file FmpcSolver.h.

kkt_error_thre

template<int StateDim, int InputDim, int IneqDim>

double nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::kkt_error_thre = 1e-4

Threshold of KKT condition error.

Definition at line 70 of file FmpcSolver.h.

max_iter

template<int StateDim, int InputDim, int IneqDim>

int nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::max_iter = 10

Maximum iteration of optimization loop.

Definition at line 67 of file FmpcSolver.h.

merit_const_scale_from_lagrange_multipliers

template<int StateDim, int InputDim, int IneqDim>

bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::merit_const_scale_from_lagrange_multipliers = false

Whether to calculate the scale of constraint errors in the merit function from Lagrange multipliers.

Definition at line 88 of file FmpcSolver.h.

print_level

template<int StateDim, int InputDim, int IneqDim>

int nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::print_level = 1

Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose)

Definition at line 61 of file FmpcSolver.h.

update_barrier_eps

template<int StateDim, int InputDim, int IneqDim>

bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Configuration::update_barrier_eps = true

Whether to update barrier parameter.

Definition at line 79 of file FmpcSolver.h.

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

• /home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_fmpc/include/nmpc_fmpc/FmpcSolver.h