Namespaces
namespace	detail

Classes
class	Horizon
	Horizon of MPC. More...

class	Logger
	Logger for MPC. More...

class	MultipleShootingCGMRESSolver
	Multiple-shooting C/GMRES solver for nonlinear MPC. More...

class	OCP_cartpole
	Definition of the optimal control problem (OCP) of cartpole. More...

class	OCP_cartpoleExternalReference
	Definition of the optimal control problem (OCP) of cartpoleExternalReference. More...

class	OCP_hexacopter
	Definition of the optimal control problem (OCP) of hexacopter. More...

class	OCP_mobilerobot
	Definition of the optimal control problem (OCP) of mobilerobot. More...

class	OCP_pendubot
	Definition of the optimal control problem (OCP) of pendubot. More...

class	SingleShootingCGMRESSolver
	Single-shooting C/GMRES solver for nonlinear MPC. More...

class	SolverSettings
	Settings of solvers. More...

class	Timer
	A timer for benchmarks. More...

class	TimingProfile
	A profile of the timing benchmark. More...

class	ZeroHorizonOCPSolver
	Zero-horizon OCP solver to initialize the solution of the MPC solvers. More...

Typedefs
using	Scalar = double
	Alias of double. More...

template<int rows, int cols>
using	Matrix = Eigen::Matrix< Scalar, rows, cols >
	Alias of Eigen::Matrix. More...

template<int size>
using	Vector = Eigen::Matrix< Scalar, size, 1 >
	Alias of Eigen::Vector. More...

template<class MatrixType >
using	MatrixBase = Eigen::MatrixBase< MatrixType >
	Alias of Eigen::MatrixBase. More...

using	MatrixX = Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >
	Alias of Eigen::MatrixXd (dynamic-size matrix). More...

using	VectorX = Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >
	Alias of Eigen::VectorXd (dynamic-size vector). More...

using	VectorXi = Eigen::Matrix< int, Eigen::Dynamic, 1 >
	Alias of Eigen::VectorXi (dynamic-size integer vector). More...

template<class MatrixType >
using	Map = Eigen::Map< MatrixType >
	Alias of Eigen::Map. More...

Functions
template<typename OCP , typename StateVectorType , typename ControlInputVectorType >
VectorX	ForwardEuler (const OCP &ocp, const Scalar t, const Scalar dt, const MatrixBase< StateVectorType > &x, const MatrixBase< ControlInputVectorType > &u)
	Computes the next state by the forward Euler. More...

template<typename OCP , typename StateVectorType , typename ControlInputVectorType >
VectorX	RK4 (const OCP &ocp, const Scalar t, const Scalar dt, const MatrixBase< StateVectorType > &x, const MatrixBase< ControlInputVectorType > &u)
	Computes the next state by the 4th-order Runge-Kutta method. More...

Typedef Documentation

◆ Map

template<class MatrixType >

using cgmres::Map = typedef Eigen::Map<MatrixType>

Alias of Eigen::Map.

◆ Matrix

template<int rows, int cols>

using cgmres::Matrix = typedef Eigen::Matrix<Scalar, rows, cols>

Alias of Eigen::Matrix.

◆ MatrixBase

template<class MatrixType >

using cgmres::MatrixBase = typedef Eigen::MatrixBase<MatrixType>

Alias of Eigen::MatrixBase.

◆ MatrixX

using cgmres::MatrixX = typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>

Alias of Eigen::MatrixXd (dynamic-size matrix).

◆ Scalar

using cgmres::Scalar = typedef double

Alias of double.

◆ Vector

template<int size>

using cgmres::Vector = typedef Eigen::Matrix<Scalar, size, 1>

Alias of Eigen::Vector.

◆ VectorX

using cgmres::VectorX = typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

Alias of Eigen::VectorXd (dynamic-size vector).

◆ VectorXi

using cgmres::VectorXi = typedef Eigen::Matrix<int, Eigen::Dynamic, 1>

Alias of Eigen::VectorXi (dynamic-size integer vector).

Function Documentation

◆ ForwardEuler()

template<typename OCP , typename StateVectorType , typename ControlInputVectorType >

VectorX cgmres::ForwardEuler	(	const OCP &	ocp,
		const Scalar	t,
		const Scalar	dt,
		const MatrixBase< StateVectorType > &	x,
		const MatrixBase< ControlInputVectorType > &	u
	)

Computes the next state by the forward Euler.

Parameters

[in]	ocp	Optimal control problem.
[in]	t	Time.
[in]	dt	Time step.
[in]	x	State.
[in]	u	Control input.

Returns: State at time t+dt.

◆ RK4()