NLOC_MPC.cpp File Reference

#include <ct/rbd/rbd.h>
#include "../../exampleDir.h"
#include <ct/models/InvertedPendulum/InvertedPendulum.h>

Classes
class	MPCSimulator

Typedefs
using	RobotState_t = ct::rbd::FixBaseRobotState< njoints, actuator_state_dim >
using	IPDynamics = ct::rbd::InvertedPendulum::tpl::Dynamics< double >
using	IPSystem = ct::rbd::FixBaseFDSystem< IPDynamics, actuator_state_dim, false >
using	LinearSystem = ct::core::LinearSystem< state_dim, control_dim, double >
using	InvertedPendulumNLOC = FixBaseNLOC< IPSystem >

Functions
int	main (int argc, char *argv[])

Variables
const size_t	njoints = ct::rbd::InvertedPendulum::Kinematics::NJOINTS
const size_t	actuator_state_dim = 1

Typedef Documentation

RobotState_t

using RobotState_t = ct::rbd::FixBaseRobotState<njoints, actuator_state_dim>

IPDynamics

using IPDynamics = ct::rbd::InvertedPendulum::tpl::Dynamics<double>

IPSystem

using IPSystem = ct::rbd::FixBaseFDSystem<IPDynamics, actuator_state_dim, false>

LinearSystem

using LinearSystem = ct::core::LinearSystem<state_dim, control_dim, double>

InvertedPendulumNLOC

using InvertedPendulumNLOC = FixBaseNLOC<IPSystem>

Function Documentation

main()

int main	(	int	argc,
		char *	argv[]
	)

References ct::optcon::mpc_settings::coldStart_, costFunctionFile, ct::optcon::mpc_settings::delayMeasurementMultiplier_, ct::core::ControlSimulator< class >::finish(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector(), i, ct::optcon::NLOptConSettings::load(), ct::core::loadMatrix(), ct::core::loadScalar(), ct::optcon::NLOptConSettings::max_iterations, ct::optcon::mpc_settings::measureDelay_, ct::optcon::mpc_settings::minimumTimeHorizonMpc_, ct::optcon::mpc_settings::mpc_mode, ct::optcon::mpc_settings::postTruncation_, ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary(), ct::optcon::MPC< OPTCON_SOLVER >::setInitialGuess(), ct::core::ControlSimulator< class >::simulate(), ct::optcon::mpc_settings::stateForwardIntegration_, timeHorizon, ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector(), verbose, x0, and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref().

Variable Documentation

njoints

const size_t njoints = ct::rbd::InvertedPendulum::Kinematics::NJOINTS

actuator_state_dim

const size_t actuator_state_dim = 1