smooth::feedback::detail::MPCCE< X > Struct Template Reference

MPC end constraint function. More...

#include <mpc.hpp>

Public Member Functions
Tangent< X >	operator() (const double, const X &x0, const X &, const Eigen::Vector< double, 1 > &) const
std::reference_wrapper< const Eigen::SparseMatrix< double > >	jacobian (const double, const X &x0, const X &, const Eigen::Vector< double, 1 > &)

Public Attributes
X	x0_fix = Default<X>()
Eigen::SparseMatrix< double >	dexpinv_tmp = d_exp_sparse_pattern<X>
Eigen::SparseMatrix< double >	jac {Nx, 1 + 2 * Nx + 1}

Static Public Attributes
static constexpr auto	Nx = Dof<X>

Detailed Description

template<LieGroup X>
struct smooth::feedback::detail::MPCCE< X >

MPC end constraint function.

The end constraint function is

\[ c_e(t_f, x_0, x_f, q) = x_0 \ominus x_{0, fix}. \]

Definition at line 276 of file mpc.hpp.

Member Function Documentation

jacobian()

template<LieGroup X>

std::reference_wrapper< const Eigen::SparseMatrix< double > > smooth::feedback::detail::MPCCE< X >::jacobian ( const double  , const X &  x0, const X &  , const Eigen::Vector< double, 1 > &    )

inline

Definition at line 294 of file mpc.hpp.

operator()()

template<LieGroup X>

Tangent< X > smooth::feedback::detail::MPCCE< X >::operator() ( const double  , const X &  x0, const X &  , const Eigen::Vector< double, 1 > &    ) const

inline

Definition at line 288 of file mpc.hpp.

Member Data Documentation

dexpinv_tmp

template<LieGroup X>

Eigen::SparseMatrix<double> smooth::feedback::detail::MPCCE< X >::dexpinv_tmp = d_exp_sparse_pattern<X>

Definition at line 284 of file mpc.hpp.

jac

template<LieGroup X>

Eigen::SparseMatrix<double> smooth::feedback::detail::MPCCE< X >::jac {Nx, 1 + 2 * Nx + 1}

Definition at line 285 of file mpc.hpp.

Nx

template<LieGroup X>

constexpr auto smooth::feedback::detail::MPCCE< X >::Nx = Dof<X>

staticconstexpr

Definition at line 278 of file mpc.hpp.

x0_fix

template<LieGroup X>

X smooth::feedback::detail::MPCCE< X >::x0_fix = Default<X>()

Definition at line 281 of file mpc.hpp.

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

• include/smooth/feedback/mpc.hpp