apollo::common::math::MpcOsqp Class Reference

#include <mpc_osqp.h>

Collaboration diagram for apollo::common::math::MpcOsqp:

Public Member Functions
	MpcOsqp (const Eigen::MatrixXd &matrix_a, const Eigen::MatrixXd &matrix_b, const Eigen::MatrixXd &matrix_q, const Eigen::MatrixXd &matrix_r, const Eigen::MatrixXd &matrix_initial_x, const Eigen::MatrixXd &matrix_u_lower, const Eigen::MatrixXd &matrix_u_upper, const Eigen::MatrixXd &matrix_x_lower, const Eigen::MatrixXd &matrix_x_upper, const Eigen::MatrixXd &matrix_x_ref, const int max_iter, const int horizon, const double eps_abs)
	Solver for discrete-time model predictive control problem. More...
bool	Solve (std::vector< double > *control_cmd)

Constructor & Destructor Documentation

MpcOsqp()

apollo::common::math::MpcOsqp::MpcOsqp	(	const Eigen::MatrixXd &	matrix_a,
		const Eigen::MatrixXd &	matrix_b,
		const Eigen::MatrixXd &	matrix_q,
		const Eigen::MatrixXd &	matrix_r,
		const Eigen::MatrixXd &	matrix_initial_x,
		const Eigen::MatrixXd &	matrix_u_lower,
		const Eigen::MatrixXd &	matrix_u_upper,
		const Eigen::MatrixXd &	matrix_x_lower,
		const Eigen::MatrixXd &	matrix_x_upper,
		const Eigen::MatrixXd &	matrix_x_ref,
		const int	max_iter,
		const int	horizon,
		const double	eps_abs
	)

Solver for discrete-time model predictive control problem.

Parameters

matrix_a	The system dynamic matrix
matrix_b	The control matrix
matrix_q	The cost matrix for control state
matrix_lower	The lower bound control constrain matrix
matrix_upper	The upper bound control constrain matrix
matrix_initial_state	The initial state matrix
max_iter	The maximum iterations

Member Function Documentation

Solve()

bool apollo::common::math::MpcOsqp::Solve

(

std::vector< double > *

control_cmd

)

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

• modules/common/math/mpc_osqp.h