ct::optcon::tpl::MpcTimeHorizon< SCALAR > Class Template Reference

#include <MpcTimeHorizon.h>

Public Member Functions
	MpcTimeHorizon (const mpc_settings &settings, const SCALAR &initialTimeHorizon)
virtual	~MpcTimeHorizon ()
virtual bool	computeNewTimeHorizon (const SCALAR &t_since_ended_first_solve, const SCALAR &t_forward_prediction_stop, SCALAR &new_T)
	compute new MPC time horizon More...
void	updateSettings (const mpc_settings &mpcsettings)
void	updateInitialTimeHorizon (const SCALAR &initTimeHorizon)
	update the time horizon which is used during the first call to the solver More...

Protected Attributes
mpc_settings	mpc_settings_
SCALAR	initialTimeHorizon_

Detailed Description

template<typename SCALAR = double>
class ct::optcon::tpl::MpcTimeHorizon< SCALAR >

This class implements the four default strategies for the time horizon in ct's MPC. In case a different time horizon strategy is required, the user can derive from this class and override the virtual functions

Constructor & Destructor Documentation

MpcTimeHorizon()

template<typename SCALAR >

ct::optcon::tpl::MpcTimeHorizon< SCALAR >::MpcTimeHorizon	(	const mpc_settings &	settings,
		const SCALAR &	initialTimeHorizon
	)

~MpcTimeHorizon()

template<typename SCALAR >

ct::optcon::tpl::MpcTimeHorizon< SCALAR >::~MpcTimeHorizon ( )

virtual

Member Function Documentation

computeNewTimeHorizon()

template<typename SCALAR >

bool ct::optcon::tpl::MpcTimeHorizon< SCALAR >::computeNewTimeHorizon ( const SCALAR &  t_since_ended_first_solve, const SCALAR &  t_forward_prediction_stop, SCALAR &  new_T  )

virtual

compute new MPC time horizon

Parameters

t_since_ended_first_solve	Time since the first successful solve
t_forward_prediction_stop	Relative time where to stop forward integration w.r.t. previous controller
new_T	Resulting, new time horizon provided to the solver

Returns

true if TimeHorizon reached and MPC should stop

compute desired end time and the time we have left from now. Will be ignored below, if not required in the scenario.

References ct::optcon::CONSTANT_RECEDING_HORIZON, ct::optcon::FIXED_FINAL_TIME, ct::optcon::FIXED_FINAL_TIME_WITH_MIN_TIME_HORIZON, ct::optcon::tpl::MpcTimeHorizon< SCALAR >::initialTimeHorizon_, ct::optcon::mpc_settings::minimumTimeHorizonMpc_, ct::optcon::mpc_settings::mpc_mode, ct::optcon::tpl::MpcTimeHorizon< SCALAR >::mpc_settings_, and ct::optcon::RECEDING_HORIZON_WITH_FIXED_FINAL_TIME.

updateSettings()

template<typename SCALAR >

void ct::optcon::tpl::MpcTimeHorizon< SCALAR >::updateSettings

(

const mpc_settings &

mpcsettings

)

References ct::optcon::tpl::MpcTimeHorizon< SCALAR >::mpc_settings_.

updateInitialTimeHorizon()

template<typename SCALAR >

void ct::optcon::tpl::MpcTimeHorizon< SCALAR >::updateInitialTimeHorizon

(

const SCALAR &

initTimeHorizon

)

update the time horizon which is used during the first call to the solver

References ct::optcon::tpl::MpcTimeHorizon< SCALAR >::initialTimeHorizon_.

Member Data Documentation

mpc_settings_

template<typename SCALAR = double>

mpc_settings ct::optcon::tpl::MpcTimeHorizon< SCALAR >::mpc_settings_

protected

Referenced by ct::optcon::tpl::MpcTimeHorizon< SCALAR >::computeNewTimeHorizon(), and ct::optcon::tpl::MpcTimeHorizon< SCALAR >::updateSettings().

initialTimeHorizon_

template<typename SCALAR = double>

SCALAR ct::optcon::tpl::MpcTimeHorizon< SCALAR >::initialTimeHorizon_

protected

Referenced by ct::optcon::tpl::MpcTimeHorizon< SCALAR >::computeNewTimeHorizon(), and ct::optcon::tpl::MpcTimeHorizon< SCALAR >::updateInitialTimeHorizon().

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/mpc/timehorizon/MpcTimeHorizon.h
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/mpc/timehorizon/MpcTimeHorizon-impl.h