MPC Namespace Reference

Classes
struct	DDPParams
struct	Deriv
struct	LocalValueFunction
struct	Trajectory
Typedefs
typedef std::function< float(const VectorT &, const VectorT &)>	CostFunction
typedef std::function< void(const VectorT &, const VectorT &, Deriv &)>	CostFunctionD
typedef std::function< void(const VectorT &, const VectorT &, VectorT &)>	Dynamics
typedef std::function< void(const VectorT &, const VectorT &, Deriv &)>	DynamicsD
typedef Eigen::MatrixXf	MatrixT
typedef std::vector< Deriv >	TrajectoryDeriv
typedef Eigen::VectorXf	VectorT
Functions
int	backwardPass (const TrajectoryDeriv &d, LocalValueFunction &v, float lam)
void	DDP (const VectorT &x0, const MatrixT &u0, const DDPParams &params, const int maxIter, Trajectory &t)
bool	DDP_init (Dynamics dyn, DynamicsD dynd, CostFunction cost, CostFunctionD costd)
float	dynamicsAndCost (const VectorT &x, const VectorT &u)
void	dynamicsAndCost (const VectorT &x, const VectorT &u, VectorT &xNew, float &cNew)
void	dynamicsAndCost (const VectorT &x, const VectorT &u, MatrixT::ColXpr xNew, float &cNew)
void	dynamicsAndCost (Trajectory &t)
void	dynamicsAndCostDerivative (Trajectory &t, TrajectoryDeriv &d)
int	forwardPass (const VectorT &x0, const MatrixT &u, const LocalValueFunction &v, const Trajectory &in, Trajectory &out, float alpha)
bool	setCostFunction (CostFunction f, CostFunctionD fd)
bool	setDynamicFunction (Dynamics f, DynamicsD fd)
bool	update_lam_dlam (float &lam, float &dlam, const DDPParams &params)
MatrixT	weightedMatrixAvg (const VectorT &a, const std::vector< MatrixT > &B)
Variables
static CostFunction	cost
static CostFunctionD	costd
static Dynamics	dyn
static DynamicsD	dynd

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Typedef Documentation

typedef std::function<float(const VectorT &, const VectorT &)> MPC::CostFunction

Definition at line 81 of file types.h.

typedef std::function<void(const VectorT &, const VectorT &, Deriv &)> MPC::CostFunctionD

Definition at line 82 of file types.h.

typedef std::function<void(const VectorT &, const VectorT &, VectorT &)> MPC::Dynamics

Definition at line 83 of file types.h.

typedef std::function<void(const VectorT &, const VectorT &, Deriv &)> MPC::DynamicsD

Definition at line 84 of file types.h.

typedef Eigen::MatrixXf MPC::MatrixT

Definition at line 12 of file types.h.

typedef std::vector<Deriv> MPC::TrajectoryDeriv

Definition at line 79 of file types.h.

typedef Eigen::VectorXf MPC::VectorT

Definition at line 13 of file types.h.

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Function Documentation

int MPC::backwardPass	(	const TrajectoryDeriv &	d,
		LocalValueFunction &	v,
		float	lam
	)

Definition at line 57 of file mpc.cpp.

void MPC::DDP	(	const VectorT &	x0,
		const MatrixT &	u0,
		const DDPParams &	params,
		const int	maxIter,
		Trajectory &	t
	)

Definition at line 145 of file mpc.cpp.

bool MPC::DDP_init	(	Dynamics	dyn,
		DynamicsD	dynd,
		CostFunction	cost,
		CostFunctionD	costd
	)

Definition at line 10 of file mpc.cpp.

float MPC::dynamicsAndCost	(	const VectorT &	x,
		const VectorT &	u
	)

Definition at line 19 of file dynamics.cpp.

void MPC::dynamicsAndCost	(	const VectorT &	x,
		const VectorT &	u,
		VectorT &	xNew,
		float &	cNew
	)

Definition at line 24 of file dynamics.cpp.

void MPC::dynamicsAndCost	(	const VectorT &	x,
		const VectorT &	u,
		MatrixT::ColXpr	xNew,
		float &	cNew
	)

Definition at line 29 of file dynamics.cpp.

void MPC::dynamicsAndCost

(

Trajectory &

t

)

Definition at line 37 of file dynamics.cpp.

void MPC::dynamicsAndCostDerivative	(	Trajectory &	t,
		TrajectoryDeriv &	d
	)

Definition at line 58 of file dynamics.cpp.

int MPC::forwardPass	(	const VectorT &	x0,
		const MatrixT &	u,
		const LocalValueFunction &	v,
		const Trajectory &	in,
		Trajectory &	out,
		float	alpha
	)

Definition at line 17 of file mpc.cpp.

bool MPC::setCostFunction	(	CostFunction	f,
		CostFunctionD	fd
	)

Definition at line 12 of file dynamics.cpp.

bool MPC::setDynamicFunction	(	Dynamics	f,
		DynamicsD	fd
	)

Definition at line 5 of file dynamics.cpp.

bool MPC::update_lam_dlam	(	float &	lam,
		float &	dlam,
		const DDPParams &	params
	)

Definition at line 135 of file mpc.cpp.

MatrixT MPC::weightedMatrixAvg	(	const VectorT &	a,
		const std::vector< MatrixT > &	B
	)

Definition at line 44 of file mpc.cpp.

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Variable Documentation

CostFunction MPC::cost [static]

Definition at line 9 of file dynamics.h.

CostFunctionD MPC::costd [static]

Definition at line 10 of file dynamics.h.

Dynamics MPC::dyn [static]

Definition at line 11 of file dynamics.h.

DynamicsD MPC::dynd [static]

Definition at line 12 of file dynamics.h.