smooth::feedback::detail::XDes< T, X > Struct Template Reference

Wrapper for desired trajectory and its derivative. More...

#include <mpc.hpp>

Public Member Functions
X	operator() (const double t_rel) const
Tangent< X >	jacobian (const double t_rel) const

Public Attributes
T	t0
std::function< X(T)>	xdes = [](T) -> X { return Default<X>(); }
std::function< Tangent< X >(T)>	dxdes = [](T) -> Tangent<X> { return Tangent<X>::Zero(); }

Detailed Description

template<Time T, LieGroup X>
struct smooth::feedback::detail::XDes< T, X >

Wrapper for desired trajectory and its derivative.

Definition at line 23 of file mpc.hpp.

Member Function Documentation

jacobian()

template<Time T, LieGroup X>

Tangent< X > smooth::feedback::detail::XDes< T, X >::jacobian ( const double  t_rel ) const

inline

Definition at line 35 of file mpc.hpp.

operator()()

template<Time T, LieGroup X>

X smooth::feedback::detail::XDes< T, X >::operator() ( const double  t_rel ) const

inline

Definition at line 29 of file mpc.hpp.

Member Data Documentation

dxdes

template<Time T, LieGroup X>

std::function<Tangent<X>(T)> smooth::feedback::detail::XDes< T, X >::dxdes = [](T) -> Tangent<X> { return Tangent<X>::Zero(); }

Definition at line 27 of file mpc.hpp.

t0

template<Time T, LieGroup X>

T smooth::feedback::detail::XDes< T, X >::t0

Definition at line 25 of file mpc.hpp.

xdes

template<Time T, LieGroup X>

std::function<X(T)> smooth::feedback::detail::XDes< T, X >::xdes = [](T) -> X { return Default<X>(); }

Definition at line 26 of file mpc.hpp.

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

• include/smooth/feedback/mpc.hpp