smooth::feedback::detail::MPCCR< T, X, U, F, DT > Struct Template Reference

MPC running constraints (jacobian obtained via automatic differentiation). More...

#include <mpc.hpp>

Public Member Functions
Eigen::Vector< double, Ncr >	operator() (const double t, const X &x, const U &u)
std::reference_wrapper< const Eigen::SparseMatrix< double > >	jacobian (const double t, const X &x, const U &u)

Public Attributes
F	f
T	t0 {}
Eigen::SparseMatrix< double >	jac {Ncr, 1 + Nx + Nu}

Static Public Attributes
static constexpr auto	Nx = Dof<X>
static constexpr auto	Nu = Dof<U>
static constexpr auto	Ncr = std::invoke_result_t<F, X, U>::SizeAtCompileTime

Detailed Description

template<Time T, LieGroup X, Manifold U, typename F, diff::Type DT>
struct smooth::feedback::detail::MPCCR< T, X, U, F, DT >

MPC running constraints (jacobian obtained via automatic differentiation).

Definition at line 234 of file mpc.hpp.

Member Function Documentation

jacobian()

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

std::reference_wrapper< const Eigen::SparseMatrix< double > > smooth::feedback::detail::MPCCR< T, X, U, F, DT >::jacobian ( const double  t, const X &  x, const U &  u  )

inline

Definition at line 255 of file mpc.hpp.

operator()()

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

Eigen::Vector< double, Ncr > smooth::feedback::detail::MPCCR< T, X, U, F, DT >::operator() ( const double  t, const X &  x, const U &  u  )

inline

Definition at line 248 of file mpc.hpp.

Member Data Documentation

f

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

F smooth::feedback::detail::MPCCR< T, X, U, F, DT >::f

Definition at line 241 of file mpc.hpp.

jac

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

Eigen::SparseMatrix<double> smooth::feedback::detail::MPCCR< T, X, U, F, DT >::jac {Ncr, 1 + Nx + Nu}

Definition at line 245 of file mpc.hpp.

Ncr

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

constexpr auto smooth::feedback::detail::MPCCR< T, X, U, F, DT >::Ncr = std::invoke_result_t<F, X, U>::SizeAtCompileTime

staticconstexpr

Definition at line 238 of file mpc.hpp.

Nu

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

constexpr auto smooth::feedback::detail::MPCCR< T, X, U, F, DT >::Nu = Dof<U>

staticconstexpr

Definition at line 237 of file mpc.hpp.

Nx

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

constexpr auto smooth::feedback::detail::MPCCR< T, X, U, F, DT >::Nx = Dof<X>

staticconstexpr

Definition at line 236 of file mpc.hpp.

t0

template<Time T, LieGroup X, Manifold U, typename F , diff::Type DT>

T smooth::feedback::detail::MPCCR< T, X, U, F, DT >::t0 {}

Definition at line 242 of file mpc.hpp.

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

• include/smooth/feedback/mpc.hpp