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| Eigen::Vector< double, 1 > | operator() (const double t_rel, const X &x, const U &u) const |
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| Eigen::RowVector< double, 1+Nx+Nu > | jacobian (const double t_rel, const X &x, const U &u) |
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| std::reference_wrapper< const Eigen::SparseMatrix< double > > | hessian (const double t_rel, const X &x, const U &u) |
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| std::shared_ptr< XDes< T, X > > | xdes |
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| std::shared_ptr< UDes< T, U > > | udes |
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| Eigen::Matrix< double, Nx, Nx > | Q = Eigen::Matrix<double, Nx, Nx>::Identity() |
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| Eigen::Matrix< double, Nu, Nu > | R = Eigen::Matrix<double, Nu, Nu>::Identity() |
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| Eigen::SparseMatrix< double > | hess {1 + Nx + Nu, 1 + Nx + Nu} |
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template<Time T, LieGroup X, Manifold U>
struct smooth::feedback::detail::MPCIntegrand< T, X, U >
MPC integrand.
The integrand is
\[
c_e(t, x, u) = (x - x_{des}(t))^T Q (x - x_{des}(t)) + (u - u_{des}(t))^T R (u - u_{des}(t)).
\]
@warn The functor members are only valid at the linearization point \( x = x_{des}(t), u =
u_{des}(t) \).
Definition at line 166 of file mpc.hpp.
