Class MPCParameters

• Defined in File MPCOptimizer.hpp

Class Documentation

class MPCParameters

A MPC parameters class.

Public Functions

MPCParameters(Eigen::Vector2d goal, Eigen::Vector3d x0, Eigen::Vector3d theta0, const pcl::PointCloud<pcl::PointXYZ> &points, int N, double dt)

~MPCParameters()

Destructor.

int get_steps()

Get the number of horizont steps.

Returns:

integer value of amount of horizont step used in optimization

double get_timestep()

Get the differential time used by integrator in kinematic model.

Returns:

double value of time in seconds

double get_angular_tracking_cost()

Get angular cost used in angle optimization.

Returns:

double value of angular cost

Eigen::Matrix2d get_effort_cost()

Get effort cost matrix used in optimization.

Returns:

Eigen::Matrix2d as effort cost matrix

Eigen::Matrix2d get_tracking_cost()

Get tracking cost matrix used in optimization.

Returns:

Eigen::Matrix2d as tracking cost matrix

Eigen::Matrix2d get_smooth_cost()

Get smooth cost matrix used in optimization.

Returns:

Eigen::Matrix2d as smooth cost matrix

Public Members

Eigen::Vector2d goal

Goal pose (x,y) to optimizer.

Eigen::Vector3d x0

Init pos (x,y,z).

Eigen::Vector3d theta0

Init orientation (roll,pitch,yaw).

const pcl::PointCloud<pcl::PointXYZ> &points

Filtered Point Cloud to detect collisions.