MPC

ssqp::solvers::MPC is a thin helper around ssqp for receding-horizon control. See MPC in Concepts for the conceptual explanation. The reference below is generated directly from include/solvers/mpc.hpp's own doc comments.

Class ssqp::solvers::MPC

ClassList > ssqp > solvers > MPC

More...

• #include <mpc.hpp>

Classes

Type	Name
struct	Params

Public Functions

Type	Name
	MPC (model::Model & model, const Params & params=Params::Default(), const ssqp::Params & ssqp_params=ssqp::Params::Default())
MatX	feedbackGain (const uint k) const
const std::vector< ssqp::ConvergenceData >	getConvergenceData () const
void	reinitialize (const VecX & state)
void	reinitialize (const FlatVec & states, const FlatVec & controls)
void	reinitialize (const std::vector< VecX > & states, const std::vector< VecX > & controls)
std::pair< FlatVec, FlatVec >	step (const VecX & state)
std::pair< FlatVec, FlatVec >	step (const FlatVec & states, const FlatVec & controls)
std::pair< FlatVec, FlatVec >	step (const std::vector< VecX > & states, const std::vector< VecX > & controls)
std::pair< FlatVec, FlatVec >	step ()

Detailed Description

MPC class Helper class which utilizes SSQP to perform MPC for real-time SSQP-based control.

Repeatedly uses SSQP with low iterations to solve a problem for the current state of a system, applies the first of the generated controls, updates the initial guess using feedback from the system and a warm start using the previous solution and repeats the process.

Public Functions Documentation

function MPC

ssqp::solvers::MPC::MPC (
    model::Model & model,
    const Params & params=Params::Default(),
    const ssqp::Params & ssqp_params=ssqp::Params::Default()
) 

---

function feedbackGain

MatX ssqp::solvers::MPC::feedbackGain (
    const uint k
) const

---

function getConvergenceData

const std::vector< ssqp::ConvergenceData > ssqp::solvers::MPC::getConvergenceData () const

---

function reinitialize [1/3]

void ssqp::solvers::MPC::reinitialize (
    const VecX & state
) 

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function reinitialize [2/3]

void ssqp::solvers::MPC::reinitialize (
    const FlatVec & states,
    const FlatVec & controls
) 

---

function reinitialize [3/3]

void ssqp::solvers::MPC::reinitialize (
    const std::vector< VecX > & states,
    const std::vector< VecX > & controls
) 

---

function step [1/4]

std::pair< FlatVec, FlatVec > ssqp::solvers::MPC::step (
    const VecX & state
) 

---

function step [2/4]

std::pair< FlatVec, FlatVec > ssqp::solvers::MPC::step (
    const FlatVec & states,
    const FlatVec & controls
) 

---

function step [3/4]

std::pair< FlatVec, FlatVec > ssqp::solvers::MPC::step (
    const std::vector< VecX > & states,
    const std::vector< VecX > & controls
) 

---

function step [4/4]

std::pair< FlatVec, FlatVec > ssqp::solvers::MPC::step () 

---

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The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/solvers/mpc.hpp