API of the sparse MPC solver. More...

#include <smpc_solver.h>

Inheritance diagram for smpc::solver_as:

Public Member Functions
	solver_as (const int N, const double gain_position=2000.0, const double gain_velocity=150.0, const double gain_acceleration=0.02, const double gain_jerk=1.0, const double tol=1e-7, const unsigned int max_added_constraints_num=0, const bool constraint_removal_on=true, const bool obj_computation_on=false)
	Constructor: initialize an active set method solver. More...

	~solver_as ()


void	set_parameters (const double , const double , const double, const double , const double , const double , const double , const double *)
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	form_init_fp (const double , const double , const state_com &, double *)
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	form_init_fp (const double , const double , const state_zmp &, double *)
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	solve ()
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	get_next_state (state_com &) const
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	get_next_state (state_zmp &) const
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	get_state (state_com &, const int) const
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	get_state (state_zmp &, const int) const
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	get_first_controls (control &) const
	These functions are documented in the definition of the base abstract class smpc::solver. More...

void	get_controls (control &, const int) const
	These functions are documented in the definition of the base abstract class smpc::solver. More...

Public Member Functions inherited from smpc::solver
virtual	~solver ()=0
	Virtual destructor. More...

Public Attributes
unsigned int	added_constraints_num
	Number of added constraints (the constraints, that were removed are also counted). More...

unsigned int	removed_constraints_num
	Number of removed constraints. More...

unsigned int	active_set_size
	The final size of the active set. More...

std::vector< double >	objective_log
	Contains values of objective function after each iteration, the initial value is also included. More...

qp_as *	qp_sol
	Internal representation. More...

Detailed Description

API of the sparse MPC solver.

Definition at line 313 of file smpc_solver.h.

Constructor & Destructor Documentation

◆ solver_as()

smpc::solver_as::solver_as	(	const int	N,
		const double	gain_position = `2000.0`,
		const double	gain_velocity = `150.0`,
		const double	gain_acceleration = `0.02`,
		const double	gain_jerk = `1.0`,
		const double	tol = `1e-7`,
		const unsigned int	max_added_constraints_num = `0`,
		const bool	constraint_removal_on = `true`,
		const bool	obj_computation_on = `false`
	)

Constructor: initialize an active set method solver.

Parameters

[in]	N	Number of sampling times in a preview window
[in]	gain_position	Position gain (Alpha)
[in]	gain_velocity	Velocity gain (Beta)
[in]	gain_acceleration	Acceleration gain (Gamma)
[in]	gain_jerk	Jerk gain (Eta)
[in]	tol	tolerance
[in]	max_added_constraints_num	limit the number of added constraints (NOT the size of active set), no limit if set to 0.
[in]	constraint_removal_on	enable/disable removal of activated constraints.
[in]	obj_computation_on	compute and keep values of the objective function

Note: smpc::max_added_constraints_num and smpc::constraint_removal_on affect the time required for solution. If the number of added constraints is less than (length of preview window)*2 or constraint removal is disabled, the solution is approximate. How good is this approximation depends on the problem.

Definition at line 46 of file smpc_solver.cpp.

◆ ~solver_as()

smpc::solver_as::~solver_as ( )

Definition at line 69 of file smpc_solver.cpp.