mpc.cpp File Reference

#include <mpc/mpc.h>
#include <Eigen/Core>
#include <Eigen/Eigenvalues>
#include <algorithm>
#include <cmath>

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Namespaces
namespace	MPC
Functions
int	MPC::backwardPass (const TrajectoryDeriv &d, LocalValueFunction &v, float lam)
void	MPC::DDP (const VectorT &x0, const MatrixT &u0, const DDPParams &params, const int maxIter, Trajectory &t)
bool	MPC::DDP_init (Dynamics dyn, DynamicsD dynd, CostFunction cost, CostFunctionD costd)
int	MPC::forwardPass (const VectorT &x0, const MatrixT &u, const LocalValueFunction &v, const Trajectory &in, Trajectory &out, float alpha)
bool	MPC::update_lam_dlam (float &lam, float &dlam, const DDPParams &params)
MatrixT	MPC::weightedMatrixAvg (const VectorT &a, const std::vector< MatrixT > &B)