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| Eigen::Matrix< double, Nx, Nx > | Q = Eigen::Matrix<double, Nx, Nx>::Identity() |
| | Running state cost. More...
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| Eigen::Matrix< double, Nx, Nx > | Qtf = Eigen::Matrix<double, Nx, Nx>::Identity() |
| | Final state cost. More...
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| Eigen::Matrix< double, Nu, Nu > | R = Eigen::Matrix<double, Nu, Nu>::Identity() |
| | Running input cost. More...
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template<LieGroup X, Manifold U>
struct smooth::feedback::MPCWeights< X, U >
Objective weights for MPC.
The MPC cost function is
\[
\int_{0}^{t_f} (x(t) \ominus x_{des}(t_f))^T Q (x(t) \ominus x_{des}(t)) + (u(t) \ominus
u_{des})^T R (u(t) \ominus u_{des}(t)) \mathrm{d} t + (x(t_f) \ominus x_{des}(t_f))^T Q_{t_f}
(x(t_f) \ominus x_{des}(t_f)) \]
Definition at line 345 of file mpc.hpp.
