Abstract class that represents any solver interface and provides a low-lever mpc solver interface. More...

#include <eigen3/Eigen/Dense>
#include "System.hpp"

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Classes
class	mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >

Enumerations
enum	mimpc::SOLVER_RETURN { mimpc::OPTIMAL = 1 , mimpc::NO_SOLUTION = 0 , mimpc::TIME_LIMIT_WITH_SOLUTION = 2 , mimpc::USER_INTERRUPT = -10 }

enum	mimpc::COST_TYPE { mimpc::L1Linear = 0 , mimpc::L2Quadratic = 1 }

enum	mimpc::INTEGRATION_SCHEME { mimpc::FORWARD_EULER = 0 , mimpc::BACKWARD_EULER = 1 }

Detailed Description

Abstract class that represents any solver interface and provides a low-lever mpc solver interface.

Author: Franek Stark Contact: frane.nosp@m.k.st.nosp@m.ark@d.nosp@m.fki..nosp@m.de

Enumeration Type Documentation

Types of how the system state and input error is measured

Enumerator
L1Linear	Linear cost term representing the L1 Norm (absolute distance)
L2Quadratic	Quadratic cost term representing the L2 Norm (euclidean distance)

Ways of how the system dynamics are discretized

Enumerator
FORWARD_EULER	forward (explicit) euler discretization
BACKWARD_EULER	backward (implicit) euler discretization

Solver return code definitions

Enumerator
OPTIMAL	Optimal solution was found (within time solver limit)
NO_SOLUTION	No solution was found (within time solver limit)
TIME_LIMIT_WITH_SOLUTION	Suboptimal/feasible solution was found within time solver limit
USER_INTERRUPT	Solver was interrupted by user (i.e. by pressing CTRL+C while solver was running)