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

MPC dynamics (derivatives obtained via autodiff). More...

#include <mpc.hpp>

Public Member Functions
Tangent< X >	operator() (const double t, const X &x, const U &u)
Eigen::Matrix< double, Nx, 1+Nx+Nu >	jacobian (const double t, const X &x, const U &u)

Public Attributes
F	f
T	t0 {}

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

Detailed Description

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

MPC dynamics (derivatives obtained via autodiff).

Definition at line 125 of file mpc.hpp.

Member Function Documentation

jacobian()

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

Eigen::Matrix< double, Nx, 1+Nx+Nu > smooth::feedback::detail::MPCDyn< T, X, U, F, DT >::jacobian ( const double  t, const X &  x, const U &  u  )

inline

Definition at line 142 of file mpc.hpp.

operator()()

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

Tangent< X > smooth::feedback::detail::MPCDyn< T, X, U, F, DT >::operator() ( const double  t, const X &  x, const U &  u  )

inline

Definition at line 135 of file mpc.hpp.

Member Data Documentation

f

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

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

Definition at line 131 of file mpc.hpp.

Nu

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

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

staticconstexpr

Definition at line 128 of file mpc.hpp.

Nx

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

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

staticconstexpr

Definition at line 127 of file mpc.hpp.

t0

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

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

Definition at line 132 of file mpc.hpp.

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

• include/smooth/feedback/mpc.hpp