Detailed Description

Model Predictive Control problem for walking pattern generation [determine_solution_structure.m, form_rotation_matrices.m, form_foot_pos_matrices.m, form_condensing_matrices.m].

Definition at line 20 of file mpc_mg.h.

#include <mpc_mg.h>

Inheritance diagram for humoto::pepper_mpc::MPCforMG:

Public Member Functions
	MPCforMG ()
	Constructor. More...

	MPCforMG (const humoto::pepper_mpc::MPCParameters &mpc_parameters)
	Constructor. More...

humoto::pepper_mpc::ModelState	getModelState (const humoto::pepper_mpc::Model &model, const std::size_t time_instant_ms)
	Computes model state at the given time instant. More...

humoto::pepper_mpc::ModelState	getModelState (const humoto::pepper_mpc::Model &model, const double time_instant)
	Computes model state at the given time instant. More...

humoto::pepper_mpc::ModelState	getNextModelState (const humoto::Solution &solution, const humoto::pepper_mpc::Model &model)
	Get next model state. More...

humoto::pepper_mpc::ModelState	getNextModelState (const humoto::pepper_mpc::Model &model) const
	Get next model state. More...

std::size_t	getPreviewHorizonLength () const
	Returns length of the preview horizon. More...

void	guessSolution (Solution &solution_guess, const Solution &old_solution) const
	Guess solution. More...

void	initSolutionStructure (humoto::Solution &solution) const
	Initialize structure of the given solution based on the internally stored solution structure. More...

void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="mpcmg") const
	Log. More...

void	parseSolution (const humoto::Solution &solution)
	Process solution. More...

void	setParameters (const humoto::pepper_mpc::MPCParameters &mpc_parameters)
	Set parameters. More...

void	shift (MotionParameters &motion_parameters, const std::ptrdiff_t time_shift_ms=DEFAULT_PREVIEW_HORIZON_SHIFT)
	Shift preview horizon. More...

void	shift (std::deque< MotionParameters > &motion_parameters_deque, const std::ptrdiff_t time_shift_ms=DEFAULT_PREVIEW_HORIZON_SHIFT)
	Update control problem. More...

template<class t_MotionParameters >
ControlProblemStatus::Status	update (const t_MotionParameters &motion_parameters, const Model &model)
	Update control problem. More...

template<class t_MotionParameters >
ControlProblemStatus::Status	updateAndShift (t_MotionParameters &motion_parameters, const Model &model, const std::ptrdiff_t time_shift_ms=DEFAULT_PREVIEW_HORIZON_SHIFT)
	Update control problem & shift preview horizon. More...

Public Attributes
Eigen::MatrixXd	Aas_

Eigen::MatrixXd	Ajs_

Eigen::MatrixXd	Ap_

Eigen::MatrixXd	Apd_

Eigen::MatrixXd	Aps_

Eigen::VectorXd	base_controls_

Eigen::VectorXd	base_jerk_profile_

Eigen::VectorXd	body_controls_

Eigen::VectorXd	cop_profile_

Eigen::VectorXd	cstate_profile_

humoto::pepper_mpc::MPCParameters	mpc_parameters_

humoto::pepper_mpc::PreviewHorizon	preview_horizon_

etools::DiagonalBlockMatrix< 2, 2 >	R_

Eigen::MatrixXd	S_

Eigen::VectorXd	s_

Eigen::VectorXd	sas_

Eigen::VectorXd	sjs_

Eigen::VectorXd	sp_

Eigen::VectorXd	spd_

Eigen::VectorXd	sps_

Static Public Attributes
static const std::ptrdiff_t	DEFAULT_PREVIEW_HORIZON_SHIFT = -1

Static Protected Member Functions
template<int t_num_vars, int t_num_controls, typename t_AMatrix , typename t_BMatrix , etools::MatrixSparsityType::Type t_bmatrix_sparsity_type>
static void	condense (etools::GenericBlockMatrix< t_num_vars, t_num_vars > &S, etools::BlockMatrix< t_num_vars, t_num_controls, t_bmatrix_sparsity_type > &U, const std::vector< t_AMatrix > &A, const std::vector< t_BMatrix > &B)
	Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = Sx0 + Uu. More...

template<typename t_AMatrix , typename t_BMatrix >
static void	condense (Eigen::MatrixXd &S, Eigen::MatrixXd &U, const std::vector< t_AMatrix > &A, const std::vector< t_BMatrix > &B)
	Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = Sx0 + Uu. More...

template<int t_num_vars, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >
static void	condenseOutput (etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &Ox, std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_outputs, etools::MatrixBlockSizeType::DYNAMIC > > &Ou, const std::vector< t_DMatrix > &D, const std::vector< t_EMatrix > &E, const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &Ux, const std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_vars, etools::MatrixBlockSizeType::DYNAMIC > > &Uu)
	Condense output of the system. More...

template<typename t_DMatrix , typename t_EMatrix >
static void	condenseOutput (Eigen::MatrixXd &Ox, Eigen::MatrixXd &Ou, const t_DMatrix &D, const t_EMatrix &E, const Eigen::MatrixXd &Ux, const Eigen::MatrixXd &Uu)
	Condense output of the system. More...

template<int t_num_vars, int t_num_controls, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >
static void	condenseOutput (etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &Ox, etools::LeftLowerTriangularBlockMatrix< t_num_outputs, t_num_controls > &Ou, const std::vector< t_DMatrix > &D, const std::vector< t_EMatrix > &E, const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &Ux, const etools::LeftLowerTriangularBlockMatrix< t_num_vars, t_num_controls > &Uu)
	Condense output of the system. More...

static void	condenseTimeInvariant (Eigen::MatrixXd &S, Eigen::MatrixXd &U, const std::size_t preview_horizon_len, const Eigen::MatrixXd &A, const Eigen::MatrixXd &B)
	Create the condensed matrices (S,U) of a Time Invariant (constant A,B) Model Predictive Control problem such that X = Sx0 + Uu. More...

Protected Attributes
SolutionStructure	sol_structure_

Private Member Functions
void	formRotationMatrices ()
	Create the rotation matrices of the MPC problem. More...

humoto::pepper_mpc::ModelState	getModelState (const humoto::pepper_mpc::Model &model, const std::size_t interval_index, const double interval_offset)
	Computes model state at the given time instant. More...

humoto::pepper_mpc::ModelState	initializeNextModelState (const humoto::pepper_mpc::Model &model) const
	Initialize next model state. More...

void	updateMatrices (const Model &model)
	Condense and recompute all dependent matrices. More...

Private Attributes
bool	solution_is_parsed_

Constructor & Destructor Documentation

◆ MPCforMG() [1/2]

humoto::pepper_mpc::MPCforMG::MPCforMG ( )

inline

Constructor.

Definition at line 380 of file mpc_mg.h.

◆ MPCforMG() [2/2]

humoto::pepper_mpc::MPCforMG::MPCforMG ( const humoto::pepper_mpc::MPCParameters & mpc_parameters )

inlineexplicit

Constructor.

Parameters

[in] mpc_parameters parameters of the MPC

Definition at line 391 of file mpc_mg.h.

Member Function Documentation

◆ condense() [1/2]

template<int t_num_vars, int t_num_controls, typename t_AMatrix , typename t_BMatrix , etools::MatrixSparsityType::Type t_bmatrix_sparsity_type>

static void humoto::MPC::condense	(	etools::GenericBlockMatrix< t_num_vars, t_num_vars > &	S,
		etools::BlockMatrix< t_num_vars, t_num_controls, t_bmatrix_sparsity_type > &	U,
		const std::vector< t_AMatrix > &	A,
		const std::vector< t_BMatrix > &	B
	)

inlinestaticprotectedinherited

Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = S*x0 + U*u.

Template Parameters

t_num_vars	number of variables
t_num_controls	number of controls
t_AMatrix	A matrix, should be an Eigen matrix or a scalar
t_BMatrix	B matrix, should be an Eigen matrix

Parameters

[out]	S
[out]	U
[in]	A
[in]	B

Definition at line 321 of file control_problem.h.

◆ condense() [2/2]

template<typename t_AMatrix , typename t_BMatrix >

static void humoto::MPC::condense	(	Eigen::MatrixXd &	S,
		Eigen::MatrixXd &	U,
		const std::vector< t_AMatrix > &	A,
		const std::vector< t_BMatrix > &	B
	)

inlinestaticprotectedinherited

Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = S*x0 + U*u.

Template Parameters

t_AMatrix	A matrix, should be an Eigen matrix or a scalar
t_BMatrix	B matrix, should be an Eigen matrix

Parameters

[out]	S
[out]	U
[in]	A
[in]	B

Definition at line 378 of file control_problem.h.

◆ condenseOutput() [1/3]

template<int t_num_vars, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >

static void humoto::MPC::condenseOutput	(	etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &	Ox,
		std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_outputs, etools::MatrixBlockSizeType::DYNAMIC > > &	Ou,
		const std::vector< t_DMatrix > &	D,
		const std::vector< t_EMatrix > &	E,
		const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &	Ux,
		const std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_vars, etools::MatrixBlockSizeType::DYNAMIC > > &	Uu
	)

inlinestaticprotectedinherited

Condense output of the system.

output = Ox*x0 + Ou*(u0,...,uN)

Template Parameters

t_num_vars	number of state variables
t_num_outputs	number of output variables
t_DMatrix	D matrix, should be an Eigen matrix or a scalar
t_EMatrix	E matrix, should be an Eigen matrix or a scalar

Parameters

[out]	Ox	matrix Ox
[out]	Ou	vector of Ou matrices
[in]	D	vector of D matrices
[in]	E	vector of E matrices
[in]	Ux	matrix Ux
[in]	Uu	vector of Uu matrices

Definition at line 129 of file control_problem.h.

◆ condenseOutput() [2/3]

template<typename t_DMatrix , typename t_EMatrix >

static void humoto::MPC::condenseOutput	(	Eigen::MatrixXd &	Ox,
		Eigen::MatrixXd &	Ou,
		const t_DMatrix &	D,
		const t_EMatrix &	E,
		const Eigen::MatrixXd &	Ux,
		const Eigen::MatrixXd &	Uu
	)

inlinestaticprotectedinherited

Condense output of the system.

output = Ox*x0 + Ou*(u0,...,uN)

Template Parameters

t_num_vars	number of state variables
t_num_controls	number of control variables
t_num_outputs	number of output variables
t_DMatrix	D matrix, should be an Eigen matrix or a scalar
t_EMatrix	E matrix, should be an Eigen matrix or a scalar

Parameters

[out]	Ox	matrix Ox
[out]	Ou	matrix Ou
[in]	D	D matrix
[in]	E	E matrix
[in]	Ux	matrix Ux
[in]	Uu	matrix Uu

Definition at line 209 of file control_problem.h.

◆ condenseOutput() [3/3]

template<int t_num_vars, int t_num_controls, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >

static void humoto::MPC::condenseOutput	(	etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &	Ox,
		etools::LeftLowerTriangularBlockMatrix< t_num_outputs, t_num_controls > &	Ou,
		const std::vector< t_DMatrix > &	D,
		const std::vector< t_EMatrix > &	E,
		const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &	Ux,
		const etools::LeftLowerTriangularBlockMatrix< t_num_vars, t_num_controls > &	Uu
	)

inlinestaticprotectedinherited

Condense output of the system.

output = Ox*x0 + Ou*(u0,...,uN)

Template Parameters

t_num_vars	number of state variables
t_num_controls	number of control variables
t_num_outputs	number of output variables
t_DMatrix	D matrix, should be an Eigen matrix or a scalar
t_EMatrix	E matrix, should be an Eigen matrix or a scalar

Parameters

[out]	Ox	matrix Ox
[out]	Ou	matrix Ou
[in]	D	vector of D matrices
[in]	E	vector of E matrices
[in]	Ux	matrix Ux
[in]	Uu	matrix Uu

Definition at line 268 of file control_problem.h.

◆ condenseTimeInvariant()

static void humoto::MPC::condenseTimeInvariant	(	Eigen::MatrixXd &	S,
		Eigen::MatrixXd &	U,
		const std::size_t	preview_horizon_len,
		const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	B
	)

inlinestaticprotectedinherited

Create the condensed matrices (S,U) of a Time Invariant (constant A,B) Model Predictive Control problem such that X = S*x0 + U*u.

Parameters

[out]	S
[out]	U
[in]	preview_horizon_len	length of the preview horizon
[in]	A
[in]	B

Definition at line 428 of file control_problem.h.

◆ formRotationMatrices()

void humoto::pepper_mpc::MPCforMG::formRotationMatrices ( )

inlineprivate

Create the rotation matrices of the MPC problem.

Definition at line 30 of file mpc_mg.h.

◆ getModelState() [1/3]

humoto::pepper_mpc::ModelState humoto::pepper_mpc::MPCforMG::getModelState	(	const humoto::pepper_mpc::Model &	model,
		const std::size_t	interval_index,
		const double	interval_offset
	)

inlineprivate

Computes model state at the given time instant.

Parameters

[in]	model	model
[in]	interval_index	index of an interval in the preview horizon
[in]	interval_offset	offset from the start of the given interval

Returns: model state.

Definition at line 275 of file mpc_mg.h.

◆ getModelState() [2/3]

humoto::pepper_mpc::ModelState humoto::pepper_mpc::MPCforMG::getModelState	(	const humoto::pepper_mpc::Model &	model,
		const std::size_t	time_instant_ms
	)

inline

Computes model state at the given time instant.

Parameters

[in]	model	model
[in]	time_instant_ms	time instant

Returns: model state.

Definition at line 659 of file mpc_mg.h.

◆ getModelState() [3/3]

humoto::pepper_mpc::ModelState humoto::pepper_mpc::MPCforMG::getModelState	(	const humoto::pepper_mpc::Model &	model,
		const double	time_instant
	)

inline

Computes model state at the given time instant.

Parameters

[in]	model	model
[in]	time_instant	double time instant

Returns: model state.

Definition at line 680 of file mpc_mg.h.

◆ getNextModelState() [1/2]

humoto::pepper_mpc::ModelState humoto::pepper_mpc::MPCforMG::getNextModelState	(	const humoto::Solution &	solution,
		const humoto::pepper_mpc::Model &	model
	)

inline

Get next model state.

Parameters

[in]	solution	solution
[in]	model	model

Returns: next model state.

Definition at line 581 of file mpc_mg.h.

◆ getNextModelState() [2/2]

humoto::pepper_mpc::ModelState humoto::pepper_mpc::MPCforMG::getNextModelState ( const humoto::pepper_mpc::Model & model ) const

inline

Get next model state.

Parameters

[in] model model

Returns: next model state.

Definition at line 598 of file mpc_mg.h.

◆ getPreviewHorizonLength()

std::size_t humoto::pepper_mpc::MPCforMG::getPreviewHorizonLength ( ) const

inline

Returns length of the preview horizon.

Returns: length of preview horizon

Definition at line 699 of file mpc_mg.h.

◆ guessSolution()

void humoto::pepper_mpc::MPCforMG::guessSolution	(	Solution &	solution_guess,
		const Solution &	old_solution
	)		const

inlinevirtual

Guess solution.

Parameters

[in]	old_solution	old solution
[out]	solution_guess	solution guess

Reimplemented from humoto::ControlProblem.

Definition at line 613 of file mpc_mg.h.

◆ initializeNextModelState()

humoto::pepper_mpc::ModelState humoto::pepper_mpc::MPCforMG::initializeNextModelState ( const humoto::pepper_mpc::Model & model ) const

inlineprivate

Initialize next model state.

Parameters

[in] model model

Returns: next model state.

Definition at line 49 of file mpc_mg.h.

◆ initSolutionStructure()

void humoto::ControlProblem::initSolutionStructure ( humoto::Solution & solution ) const

inlineinherited

Initialize structure of the given solution based on the internally stored solution structure.

Parameters

[out] solution solution

Attention: This method is called automatically.

Definition at line 64 of file control_problem.h.

◆ log()

void humoto::pepper_mpc::MPCforMG::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"mpcmg"`
	)		const

inlinevirtual

Log.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Implements humoto::ControlProblem.

Definition at line 713 of file mpc_mg.h.

◆ parseSolution()

void humoto::pepper_mpc::MPCforMG::parseSolution ( const humoto::Solution & solution )

inline

Process solution.

Parameters

[in] solution solution

Definition at line 559 of file mpc_mg.h.

◆ setParameters()

void humoto::pepper_mpc::MPCforMG::setParameters ( const humoto::pepper_mpc::MPCParameters & mpc_parameters )

inline

Set parameters.

Parameters

[in] mpc_parameters

Definition at line 403 of file mpc_mg.h.

◆ shift() [1/2]

void humoto::pepper_mpc::MPCforMG::shift	(	MotionParameters &	motion_parameters,
		const std::ptrdiff_t	time_shift_ms = `DEFAULT_PREVIEW_HORIZON_SHIFT`
	)

inline

Shift preview horizon.

Parameters

[in,out]	motion_parameters	duration_ms parameter is reduced by time_shift_ms
[in]	time_shift_ms	shift of the preview horizon on the next iteration

Definition at line 450 of file mpc_mg.h.

◆ shift() [2/2]

void humoto::pepper_mpc::MPCforMG::shift	(	std::deque< MotionParameters > &	motion_parameters_deque,
		const std::ptrdiff_t	time_shift_ms = `DEFAULT_PREVIEW_HORIZON_SHIFT`
	)

inline

Update control problem.

Parameters

[in,out]	motion_parameters_deque	duration_ms parameter is reduced by time_shift_ms
[in]	time_shift_ms	shift of the preview horizon on the next iteration

Definition at line 478 of file mpc_mg.h.

◆ update()

template<class t_MotionParameters >

ControlProblemStatus::Status humoto::pepper_mpc::MPCforMG::update	(	const t_MotionParameters &	motion_parameters,
		const Model &	model
	)

inline

Update control problem.

Template Parameters

t_MotionParameters MotionParameters or deque<MotionParameters>

Parameters

[in]	motion_parameters
[in]	model	model of the system

Returns: ControlProblemStatus::OK/ControlProblemStatusSTOPPED

Definition at line 421 of file mpc_mg.h.

◆ updateAndShift()

template<class t_MotionParameters >

ControlProblemStatus::Status humoto::pepper_mpc::MPCforMG::updateAndShift	(	t_MotionParameters &	motion_parameters,
		const Model &	model,
		const std::ptrdiff_t	time_shift_ms = `DEFAULT_PREVIEW_HORIZON_SHIFT`
	)

inline

Update control problem & shift preview horizon.

Template Parameters

t_MotionParameters MotionParameters or deque<MotionParameters>

Parameters

[in,out]	motion_parameters	duration_ms parameter is reduced by time_shift_ms
[in]	model	model of the system
[in]	time_shift_ms	shift of the preview horizon on the next iteration

Returns: ControlProblemStatus::OK/ControlProblemStatusSTOPPED

Definition at line 539 of file mpc_mg.h.

◆ updateMatrices()

void humoto::pepper_mpc::MPCforMG::updateMatrices ( const Model & model )

inlineprivate

Condense and recompute all dependent matrices.

Parameters

[in] model

Definition at line 80 of file mpc_mg.h.

Member Data Documentation

◆ Aas_

Eigen::MatrixXd humoto::pepper_mpc::MPCforMG::Aas_

Definition at line 349 of file mpc_mg.h.

◆ Ajs_

Eigen::MatrixXd humoto::pepper_mpc::MPCforMG::Ajs_

Definition at line 361 of file mpc_mg.h.

◆ Ap_

Eigen::MatrixXd humoto::pepper_mpc::MPCforMG::Ap_

Definition at line 345 of file mpc_mg.h.

◆ Apd_

Eigen::MatrixXd humoto::pepper_mpc::MPCforMG::Apd_

Definition at line 357 of file mpc_mg.h.

◆ Aps_

Eigen::MatrixXd humoto::pepper_mpc::MPCforMG::Aps_

Definition at line 353 of file mpc_mg.h.

◆ base_controls_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::base_controls_

Definition at line 370 of file mpc_mg.h.

◆ base_jerk_profile_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::base_jerk_profile_

Definition at line 367 of file mpc_mg.h.

◆ body_controls_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::body_controls_

Definition at line 371 of file mpc_mg.h.

◆ cop_profile_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::cop_profile_

Definition at line 366 of file mpc_mg.h.

◆ cstate_profile_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::cstate_profile_

Definition at line 365 of file mpc_mg.h.

◆ DEFAULT_PREVIEW_HORIZON_SHIFT

const std::ptrdiff_t humoto::pepper_mpc::MPCforMG::DEFAULT_PREVIEW_HORIZON_SHIFT = -1

static

Definition at line 332 of file mpc_mg.h.

◆ mpc_parameters_

humoto::pepper_mpc::MPCParameters humoto::pepper_mpc::MPCforMG::mpc_parameters_

Definition at line 373 of file mpc_mg.h.

◆ preview_horizon_

humoto::pepper_mpc::PreviewHorizon humoto::pepper_mpc::MPCforMG::preview_horizon_

Definition at line 334 of file mpc_mg.h.

◆ R_

etools::DiagonalBlockMatrix<2,2> humoto::pepper_mpc::MPCforMG::R_

Definition at line 337 of file mpc_mg.h.

◆ S_

Eigen::MatrixXd humoto::pepper_mpc::MPCforMG::S_

Definition at line 340 of file mpc_mg.h.

◆ s_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::s_

Definition at line 341 of file mpc_mg.h.

◆ sas_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::sas_

Definition at line 348 of file mpc_mg.h.

◆ sjs_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::sjs_

Definition at line 360 of file mpc_mg.h.

◆ sol_structure_

SolutionStructure humoto::ControlProblem::sol_structure_

protectedinherited

Definition at line 43 of file control_problem.h.

◆ solution_is_parsed_

bool humoto::pepper_mpc::MPCforMG::solution_is_parsed_

private

Definition at line 23 of file mpc_mg.h.

◆ sp_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::sp_

Definition at line 344 of file mpc_mg.h.

◆ spd_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::spd_

Definition at line 356 of file mpc_mg.h.

◆ sps_

Eigen::VectorXd humoto::pepper_mpc::MPCforMG::sps_

Definition at line 352 of file mpc_mg.h.

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

modules/pepper_mpc/include/pepper_mpc/mpc_mg.h

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ MPCforMG() [1/2]

◆ MPCforMG() [2/2]

Member Function Documentation

◆ condense() [1/2]

◆ condense() [2/2]

◆ condenseOutput() [1/3]

◆ condenseOutput() [2/3]

◆ condenseOutput() [3/3]

◆ condenseTimeInvariant()

◆ formRotationMatrices()

◆ getModelState() [1/3]

◆ getModelState() [2/3]

◆ getModelState() [3/3]

◆ getNextModelState() [1/2]

◆ getNextModelState() [2/2]

◆ getPreviewHorizonLength()

◆ guessSolution()

◆ initializeNextModelState()

◆ initSolutionStructure()

◆ log()

◆ parseSolution()

◆ setParameters()

◆ shift() [1/2]

◆ shift() [2/2]

◆ update()

◆ updateAndShift()

◆ updateMatrices()

Member Data Documentation

◆ Aas_

◆ Ajs_

◆ Ap_

◆ Apd_

◆ Aps_

◆ base_controls_

◆ base_jerk_profile_

◆ body_controls_

◆ cop_profile_

◆ cstate_profile_

◆ DEFAULT_PREVIEW_HORIZON_SHIFT

◆ mpc_parameters_

◆ preview_horizon_

◆ R_

◆ S_

◆ s_

◆ sas_

◆ sjs_

◆ sol_structure_

◆ solution_is_parsed_

◆ sp_

◆ spd_

◆ sps_