cgmres::Horizon Class Reference

Horizon of MPC. More...

#include <horizon.hpp>

Public Member Functions
	Horizon (const Scalar Tf, const Scalar alpha=0.0, const Scalar t0=0.0)
	Constructs the horizon. If alpha <= 0.0, then the fixed-length Tf is used. If alpha > 0.0, then the time-varying length Tf * (1.0-exp(-alpha * (t-t0))) is used. More...
	Horizon ()=default
	Default constructor. More...
	~Horizon ()=default
	Default destructor. More...
Scalar	T (const Scalar t) const
	Gets the length of the horizon. More...
void	reset (const Scalar t0)
	Resets the length of the horizon (for time-varying horizon). More...
void	disp (std::ostream &os) const

Friends
std::ostream &	operator<< (std::ostream &os, const Horizon &horizon)

Detailed Description

Horizon of MPC.

Constructor & Destructor Documentation

Horizon() [1/2]

cgmres::Horizon::Horizon ( const Scalar  Tf, const Scalar  alpha = 0.0, const Scalar  t0 = 0.0  )

inline

Constructs the horizon. If alpha <= 0.0, then the fixed-length Tf is used. If alpha > 0.0, then the time-varying length Tf * (1.0-exp(-alpha * (t-t0))) is used.

Parameters

[in]	Tf	The parameter of the horizon length. Must be positive.
[in]	alpha	The parameter of the time-varying horizon length. Default is 0.0 (i.e., fixed-length horizon).
[in]	t0	The parameter of the time-varying horizon length. Default is 0.0.

Horizon() [2/2]

cgmres::Horizon::Horizon ( )

default

Default constructor.

~Horizon()

cgmres::Horizon::~Horizon ( )

default

Default destructor.

Member Function Documentation

disp()

void cgmres::Horizon::disp ( std::ostream &  os ) const

inline

reset()

void cgmres::Horizon::reset ( const Scalar  t0 )

inline

Resets the length of the horizon (for time-varying horizon).

Parameters

[in]

t0

The parameter of the time-varying horizon length.

T()

Scalar cgmres::Horizon::T ( const Scalar  t ) const

inline

Gets the length of the horizon.

Parameters

[in]

t

The initial time of the horizon. If this horizon is time-varying (i.e., alpha > 0.0), then this value must not be less than t0.

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const Horizon &  horizon  )

friend

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

• /github/workspace/include/cgmres/horizon.hpp