MPC Settings struct. More...

#include <MpcSettings.h>

Public Member Functions
void	print ()
	Print MPC settings to console. More...

Public Attributes
bool	stateForwardIntegration_ = false

ct::core::IntegrationType	stateForwardIntegratorType_ = ct::core::IntegrationType::RK4

double	stateForwardIntegration_dt_ = 0.001

bool	measureDelay_ = false

double	delayMeasurementMultiplier_ = 0.7

int	fixedDelayUs_ = 0

int	additionalDelayUs_ = 0

bool	postTruncation_ = false

MPC_MODE	mpc_mode = CONSTANT_RECEDING_HORIZON

core::Time	minimumTimeHorizonMpc_ = 1.0

bool	coldStart_ = false

bool	useExternalTiming_ = false

Detailed Description

MPC Settings struct.

Examples:: NLOC_MPC.cpp.

Member Function Documentation

◆ print()

void ct::optcon::mpc_settings::print ( )

inline

Print MPC settings to console.

Member Data Documentation

◆ stateForwardIntegration_

bool ct::optcon::mpc_settings::stateForwardIntegration_ = false

State prediction. Use state prediction (based on a given delay, the given initial state and a given policy)? If set to true, MPC will either use a measurement of the delay or use the fixed delay given below as "fixedDelayUs_".

Examples:: NLOC_MPC.cpp.

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::doForwardIntegration(), ct::optcon::loadMpcSettings(), main(), and ct::optcon::example::TEST().

◆ stateForwardIntegratorType_

ct::core::IntegrationType ct::optcon::mpc_settings::stateForwardIntegratorType_ = ct::core::IntegrationType::RK4

Integrator type to use for the state prediction

Referenced by ct::optcon::loadMpcSettings(), ct::optcon::example::TEST(), and ct::optcon::MPC< OPTCON_SOLVER >::updateSettings().

◆ stateForwardIntegration_dt_

double ct::optcon::mpc_settings::stateForwardIntegration_dt_ = 0.001

time step size employed for the forward integration

Referenced by ct::optcon::loadMpcSettings(), ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary(), and ct::optcon::example::TEST().

◆ measureDelay_

bool ct::optcon::mpc_settings::measureDelay_ = false

Delay compensation. If measureDelay_ is set to true, the MPC timer automatically keeps track of the planning times and uses them for the state forward prediction. Only applies if stateForwardIntegration_ is set to true.

Examples:: NLOC_MPC.cpp.

Referenced by ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::getSummedDelay(), ct::optcon::loadMpcSettings(), main(), ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary(), ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::startDelayMeasurement(), and ct::optcon::example::TEST().

◆ delayMeasurementMultiplier_

double ct::optcon::mpc_settings::delayMeasurementMultiplier_ = 0.7

The delayMeasurementMultiplier_ quantifies the level of trust you have in our planning time measurement. In case you wish to be conservative, for example because the planning times vary a lot, reduce this multiplier. Maximum confidence means, set it to 1.0. In essence, this number says "how much of our measured delay do we use for pre-integration".

Examples:: NLOC_MPC.cpp.

Referenced by ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::getSummedDelay(), ct::optcon::loadMpcSettings(), main(), and ct::optcon::example::TEST().

◆ fixedDelayUs_

int ct::optcon::mpc_settings::fixedDelayUs_ = 0

If not using measureDelay_ = true, we can instead set a fixed, known delay in microseconds (!) here.

Referenced by ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::getSummedDelay(), ct::optcon::loadMpcSettings(), ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary(), and ct::optcon::example::TEST().

◆ additionalDelayUs_

int ct::optcon::mpc_settings::additionalDelayUs_ = 0

Additional delay in microseconds (!), which gets added to either the measured delay of above fixedDelay.

Referenced by ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::getSummedDelay(), ct::optcon::loadMpcSettings(), and ct::optcon::example::TEST().

◆ postTruncation_

bool ct::optcon::mpc_settings::postTruncation_ = false

If solving the problem takes longer than predicted, we can post-truncate the solution trajectories.

Examples:: NLOC_MPC.cpp.

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::finishIteration(), ct::optcon::loadMpcSettings(), main(), and ct::optcon::example::TEST().

◆ mpc_mode

MPC_MODE ct::optcon::mpc_settings::mpc_mode = CONSTANT_RECEDING_HORIZON

MPC Time horizon modus

Examples:: NLOC_MPC.cpp.

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

◆ minimumTimeHorizonMpc_

core::Time ct::optcon::mpc_settings::minimumTimeHorizonMpc_ = 1.0

see description of the different modes above

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

◆ coldStart_

bool ct::optcon::mpc_settings::coldStart_ = false

cold starting or warm starting. Warm starting will either use a default strategy for common controller types, or a user specified custom warm starting strategy.

Examples:: NLOC_MPC.cpp.

Referenced by ct::optcon::loadMpcSettings(), main(), ct::optcon::MPC< OPTCON_SOLVER >::MPC(), and ct::optcon::example::TEST().

◆ useExternalTiming_

bool ct::optcon::mpc_settings::useExternalTiming_ = false

override the internal clock with external timing.

Warning: when employing this option, the setExternalTime() method needs to be called in MPC

Referenced by ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::computeNewTimings(), ct::optcon::loadMpcSettings(), ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary(), ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::startDelayMeasurement(), ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::stopDelayMeasurement(), ct::optcon::example::TEST(), ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::timeSinceFirstSuccessfulSolve(), and ct::optcon::tpl::MpcTimeKeeper< Scalar_t >::timeSincePreviousSuccessfulSolve().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/mpc/MpcSettings.h

Public Member Functions

Public Attributes