#include <MPC.hpp>

Public Types
using	SYSTEM_TYPE = SystemType

using	SOLVER_TYPE = SolverType

Public Member Functions
	MPC (SolverType &solver)

SOLVER_RETURN	control (const SystemType::StateVec &state, SystemType::InputVec &input, std::string &stats)

Detailed Description

template<class SystemType, class SolverType>
class mimpc::MPC< SystemType, SolverType >

This class provides a highlevel mpc interface.

Template Parameters

SystemType	the system type which shall be controlled by the mpc must be of type System
SolverType	the underlying solver which solves the optimization problem, must be of type Solver

Constructor & Destructor Documentation

◆ MPC()

template<class SystemType , class SolverType >

mimpc::MPC< SystemType, SolverType >::MPC ( SolverType & solver )

explicit

Instantiates the MPC.

Parameters

solver a reference to the instance of the underlying optimization problem. The optimization problem needs to be configured via the low level interface.

Member Function Documentation

◆ control()

template<class SystemType , class SolverType >

SOLVER_RETURN mimpc::MPC< SystemType, SolverType >::control	(	const SystemType::StateVec &	state,
		SystemType::InputVec &	input,
		std::string &	stats
	)

Starts the solving process based on the current state and returns the optimal input.

Parameters

state	the current system state
input	the optimal input
stats	statistics about the solving process
returns	the solver status even though no solutions are already handled by this class by using the old predictions

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

include/MPC.hpp

Public Types