smooth::feedback::ASIFtoQPParams Struct Reference

Parameters for asif_to_qp. More...

#include <asif_func.hpp>

Public Attributes
std::size_t	K {10}
	number of constraint instances (equally spaced over the time horizon) More...
double	alpha {1}
	barrier function time constant \( \alpha \) s.t. \( \dot h - \alpha h \geq 0 \). More...
double	dt {0.1}
	maximal integration time step More...
double	relax_cost {100}
	relaxation cost More...

Detailed Description

Parameters for asif_to_qp.

Definition at line 58 of file asif_func.hpp.

Member Data Documentation

alpha

double smooth::feedback::ASIFtoQPParams::alpha {1}

barrier function time constant \( \alpha \) s.t. \( \dot h - \alpha h \geq 0 \).

Definition at line 63 of file asif_func.hpp.

dt

double smooth::feedback::ASIFtoQPParams::dt {0.1}

maximal integration time step

Definition at line 65 of file asif_func.hpp.

K

std::size_t smooth::feedback::ASIFtoQPParams::K {10}

number of constraint instances (equally spaced over the time horizon)

Definition at line 61 of file asif_func.hpp.

relax_cost

double smooth::feedback::ASIFtoQPParams::relax_cost {100}

relaxation cost

Definition at line 67 of file asif_func.hpp.

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

• include/smooth/feedback/asif_func.hpp