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| double | operator() (const double, const X &, const X &xf, const Eigen::Vector< double, 1 > &q) const |
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| Eigen::RowVector< double, 1+2 *Nx+1 > | jacobian (const double, const X &, const X &xf, const Eigen::Vector< double, 1 > &) |
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| std::reference_wrapper< const Eigen::SparseMatrix< double > > | hessian (const double, const X &, const X &xf, const Eigen::Vector< double, 1 > &) |
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template<LieGroup X>
struct smooth::feedback::detail::MPCObj< X >
MPC cost function.
The cost is
\[
\theta(t_f, x_0, x_f, q) = q + (x_f - x_{f, des})^T Q_T (x_f - x_{f, des}).
\]
@warn The functor members are only valid at the linearization point \( x_f = x_{f_des} \).
Definition at line 69 of file mpc.hpp.
