API of the sparse MPC solver. More...

#include <smpc_solver.h>

Inheritance diagram for smpc::solver_ip:

Public Member Functions
	solver_ip (const int N, const double gain_position=2000.0, const double gain_velocity=150.0, const double gain_acceleration=0.01, const double gain_jerk=1.0, const double tol=1e-3, const double tol_out=1e-2, const double t=100, const double mu=15, const double bs_alpha=0.01, const double bs_beta=0.5, const int unsigned max_iter=0, const backtrackingSearchType bs_type=SMPC_IP_BS_LOGBAR, const bool obj_computation_on=false)
	Constructor: initialize an interior-point method solver. More...

	~solver_ip ()


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	ext_loop_iterations
	The number of iterations of the external loop. More...

unsigned int	int_loop_iterations
	The total number of iterations of the internal loop. More...

unsigned int	bt_search_iterations
	The total number of iterations of backtracking search. More...

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

qp_ip *	qp_sol
	Internal representation. More...

Detailed Description

API of the sparse MPC solver.

Definition at line 434 of file smpc_solver.h.

Constructor & Destructor Documentation

◆ solver_ip()

smpc::solver_ip::solver_ip	(	const int	N,
		const double	gain_position = `2000.0`,
		const double	gain_velocity = `150.0`,
		const double	gain_acceleration = `0.01`,
		const double	gain_jerk = `1.0`,
		const double	tol = `1e-3`,
		const double	tol_out = `1e-2`,
		const double	t = `100`,
		const double	mu = `15`,
		const double	bs_alpha = `0.01`,
		const double	bs_beta = `0.5`,
		const int unsigned	max_iter = `0`,
		const backtrackingSearchType	bs_type = `SMPC_IP_BS_LOGBAR`,
		const bool	obj_computation_on = `false`
	)

Constructor: initialize an interior-point 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 (internal loop)
[in]	tol_out	tolerance of the outer loop, which resolves the problem with new t (kappa) parameter.
[in]	t	logarithmic barrier parameter
[in]	mu	multiplier of t, >1.
[in]	bs_alpha	backtracking search parameter 0 < alpha < 0.5
[in]	bs_beta	backtracking search parameter 0 < beta < 1
[in]	max_iter	maximum number of internal loop iterations (0 = no limit)
[in]	bs_type	type of backtracking search, see backtrackingSearchType note that even when it is disabled, the 'bs_beta' parameter is still used.
[in]	obj_computation_on	enable computation of the objective function (the results are kept in objective_log)

Definition at line 222 of file smpc_solver.cpp.

◆ ~solver_ip()

smpc::solver_ip::~solver_ip ( )

Definition at line 247 of file smpc_solver.cpp.