smpc::control Class Reference

A container for a control vector. More...

#include <smpc_solver.h>

List of all members.

Public Member Functions
	control ()
double &	jx ()
	Jerk along Y axis.
double &	jy ()
	Jerk along Y axis.
void	get_first_controls (const solver &smpc_solver)
	Returns the controls that must be applied to reach the next state.
void	get_controls (const solver &smpc_solver, const int ind)
	The same as get_first_controls, but takes an additional parameter - the index of the control inputs. Control[ind] is applied to State[ind-1] to reach State[ind].
Public Attributes
double	control_vector [SMPC_NUM_CONTROL_VAR]

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Detailed Description

A container for a control vector.

Definition at line 187 of file smpc_solver.h.

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Constructor & Destructor Documentation

smpc::control::control

(

)

Definition at line 196 of file smpc_solver.cpp.

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Member Function Documentation

void smpc::control::get_controls	(	const solver &	smpc_solver,
		const int	ind
	)

The same as get_first_controls, but takes an additional parameter - the index of the control inputs. Control[ind] is applied to State[ind-1] to reach State[ind].

Parameters:

[in]	smpc_solver	initialized solver
[in]	ind	index of control inputs [0 : N-1].

Definition at line 209 of file smpc_solver.cpp.

void smpc::control::get_first_controls

(

const solver &

smpc_solver

)

Returns the controls that must be applied to reach the next state.

Parameters:

[in]

smpc_solver

initialized solver

Definition at line 203 of file smpc_solver.cpp.

double& smpc::control::jx

(

)

[inline]

Jerk along Y axis.

Definition at line 207 of file smpc_solver.h.

double& smpc::control::jy

(

)

[inline]

Jerk along Y axis.

Definition at line 211 of file smpc_solver.h.

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Member Data Documentation

double smpc::control::control_vector[SMPC_NUM_CONTROL_VAR]

                control[0] - jerk along x axis
                control[1] - jerk along y axis

Definition at line 196 of file smpc_solver.h.

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

• include/smpc_solver.h
• solver/smpc_solver.cpp