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

Optimization variables. More...

#include <FmpcSolver.h>

Public Member Functions
	Variable (int _horizon_steps=0)
	Constructor. More...
void	reset (double _x, double _u, double _lambda, double _s, double _nu)
	Reset variables. More...
bool	containsNaN () const
	Check whether NaN or infinity is containd. More...

Public Attributes
int	horizon_steps
	Number of steps in horizon. More...
std::vector< StateDimVector >	x_list
	Sequence of state (x[0], ..., x[N-1], x[N]) More...
std::vector< InputDimVector >	u_list
	Sequence of input (u[0], ..., u[N-1]) More...
std::vector< StateDimVector >	lambda_list
	Sequence of Lagrange multipliers of equality constraints (lambda[0], ..., lambda[N-1], lambda[N]) More...
std::vector< IneqDimVector >	s_list
	Sequence of slack variables of inequality constraints (s[0], ..., s[N-1]) More...
std::vector< IneqDimVector >	nu_list
	Sequence of Lagrange multipliers of inequality constraints (nu[0], ..., nu[N-1]) More...
int	print_level = 1
	Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose) More...

Detailed Description

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

Optimization variables.

Definition at line 117 of file FmpcSolver.h.

Constructor & Destructor Documentation

Variable()

template<int StateDim, int InputDim, int IneqDim>

nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::Variable

(

int

_horizon_steps = 0

)

Constructor.

Parameters

horizon_steps

number of steps in horizon

Definition at line 32 of file FmpcSolver.hpp.

Member Function Documentation

containsNaN()

template<int StateDim, int InputDim, int IneqDim>

bool nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::containsNaN

Check whether NaN or infinity is containd.

Returns

whether NaN or infinity is containd

Definition at line 71 of file FmpcSolver.hpp.

reset()

template<int StateDim, int InputDim, int IneqDim>

void nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::reset	(	double	_x,
		double	_u,
		double	_lambda,
		double	_s,
		double	_nu
	)

Reset variables.

Parameters

_x	x
_u	u
_lambda	lambda
_s	s (must be non-negative)
_nu	nu (must be non-negative)

Definition at line 42 of file FmpcSolver.hpp.

Member Data Documentation

horizon_steps

template<int StateDim, int InputDim, int IneqDim>

int nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::horizon_steps

Number of steps in horizon.

Definition at line 139 of file FmpcSolver.h.

lambda_list

template<int StateDim, int InputDim, int IneqDim>

std::vector<StateDimVector> nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::lambda_list

Sequence of Lagrange multipliers of equality constraints (lambda[0], ..., lambda[N-1], lambda[N])

Definition at line 148 of file FmpcSolver.h.

nu_list

template<int StateDim, int InputDim, int IneqDim>

std::vector<IneqDimVector> nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::nu_list

Sequence of Lagrange multipliers of inequality constraints (nu[0], ..., nu[N-1])

Definition at line 154 of file FmpcSolver.h.

print_level

template<int StateDim, int InputDim, int IneqDim>

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

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

Definition at line 157 of file FmpcSolver.h.

s_list

template<int StateDim, int InputDim, int IneqDim>

std::vector<IneqDimVector> nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::s_list

Sequence of slack variables of inequality constraints (s[0], ..., s[N-1])

Definition at line 151 of file FmpcSolver.h.

u_list

template<int StateDim, int InputDim, int IneqDim>

std::vector<InputDimVector> nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::u_list

Sequence of input (u[0], ..., u[N-1])

Definition at line 145 of file FmpcSolver.h.

x_list

template<int StateDim, int InputDim, int IneqDim>

std::vector<StateDimVector> nmpc_fmpc::FmpcSolver< StateDim, InputDim, IneqDim >::Variable::x_list

Sequence of state (x[0], ..., x[N-1], x[N])

Definition at line 142 of file FmpcSolver.h.

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

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