smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce > Struct Template Reference

Solution to OCP. More...

#include <ocp.hpp>

Public Types
using	X = _X
	State space. More...
using	U = _U
	Input space. More...

Public Attributes
double	t0
	Initial and final time. More...
double	tf
	Initial and final time. More...
Eigen::Vector< double, Nq >	Q {}
	Integral values. More...
std::function< U(double)>	u
	Callable functions for state and input. More...
std::function< X(double)>	x
	Initial and final time. More...
Eigen::Vector< double, Nq >	lambda_q {}
	Multipliers for integral constraints. More...
Eigen::Vector< double, Nce >	lambda_ce {}
	Multipliers for endpoint constraints. More...
std::function< Eigen::Vector< double, Dof< X > >(double)>	lambda_dyn {}
	Multipliers for dynamics equality constraint. More...
std::function< Eigen::Vector< double, Ncr >(double)>	lambda_cr {}
	Multipliers for active running constraints. More...

Static Public Attributes
static constexpr int	Nq = _Nq
	Number of integrals. More...
static constexpr int	Ncr = _Ncr
	Number of running constraints. More...
static constexpr int	Nce = _Nce
	Number of end constraints. More...

Detailed Description

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>
struct smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >

Solution to OCP.

Definition at line 114 of file ocp.hpp.

Member Typedef Documentation

U

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

using smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::U = _U

Input space.

Definition at line 119 of file ocp.hpp.

X

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

using smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::X = _X

State space.

Definition at line 117 of file ocp.hpp.

Member Data Documentation

lambda_ce

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

Eigen::Vector<double, Nce> smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::lambda_ce {}

Multipliers for endpoint constraints.

Definition at line 146 of file ocp.hpp.

lambda_cr

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

std::function<Eigen::Vector<double, Ncr>(double)> smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::lambda_cr {}

Multipliers for active running constraints.

Definition at line 152 of file ocp.hpp.

lambda_dyn

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

std::function<Eigen::Vector<double, Dof<X> >(double)> smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::lambda_dyn {}

Multipliers for dynamics equality constraint.

Definition at line 149 of file ocp.hpp.

lambda_q

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

Eigen::Vector<double, Nq> smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::lambda_q {}

Multipliers for integral constraints.

Definition at line 143 of file ocp.hpp.

Nce

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

constexpr int smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::Nce = _Nce

staticconstexpr

Number of end constraints.

Definition at line 126 of file ocp.hpp.

Ncr

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

constexpr int smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::Ncr = _Ncr

staticconstexpr

Number of running constraints.

Definition at line 124 of file ocp.hpp.

Nq

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

constexpr int smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::Nq = _Nq

staticconstexpr

Number of integrals.

Definition at line 122 of file ocp.hpp.

Q

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

Eigen::Vector<double, Nq> smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::Q {}

Integral values.

Definition at line 134 of file ocp.hpp.

t0

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

double smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::t0

Initial and final time.

Definition at line 130 of file ocp.hpp.

tf

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

double smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::tf

Initial and final time.

Definition at line 130 of file ocp.hpp.

u

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

std::function<U(double)> smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::u

Callable functions for state and input.

Definition at line 138 of file ocp.hpp.

x

template<LieGroup _X, Manifold _U, int _Nq, int _Ncr, int _Nce>

std::function<X(double)> smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce >::x

Initial and final time.

Definition at line 139 of file ocp.hpp.

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

• include/smooth/feedback/ocp.hpp