smooth::feedback::MPCParams Struct Reference

Parameters for MPC. More...

#include <mpc.hpp>

Public Attributes
std::size_t	K {10}
	Minimum number of collocation points. More...
double	tf {1}
	MPC time horizon (seconds) More...
bool	warmstart {true}
	Enable warmstarting. More...
QPSolverParams	qp {}
	QP solvers parameters. More...

Detailed Description

Parameters for MPC.

Definition at line 309 of file mpc.hpp.

Member Data Documentation

K

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

Minimum number of collocation points.

Note

The actual number of points is ceil(K / Kmesh) where Kmesh is a template parameter of MPC.

Definition at line 317 of file mpc.hpp.

qp

QPSolverParams smooth::feedback::MPCParams::qp {}

QP solvers parameters.

Definition at line 332 of file mpc.hpp.

tf

double smooth::feedback::MPCParams::tf {1}

MPC time horizon (seconds)

Definition at line 322 of file mpc.hpp.

warmstart

bool smooth::feedback::MPCParams::warmstart {true}

Enable warmstarting.

Definition at line 327 of file mpc.hpp.

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

• include/smooth/feedback/mpc.hpp