motion::control::mpc_controller Namespace Reference

Classes
class	Config
	A configuration class for the MpcController. More...
struct	ControlDerivatives
class	MpcController
	A wrapper around an autogenerated mpc solver for vehicle dynamics control. More...

Typedefs
using	AcadoReal = real_t
	Typedef in namespace scope instead of macro–easier for debugging. More...

Enumerations
enum	Interpolation : uint8_t { Interpolation::YES = 0U, Interpolation::NO = 1U }

Variables
constexpr auto	HORIZON = static_cast<std::size_t>(ACADO_N)
constexpr auto	NX = static_cast<std::size_t>(ACADO_NX)
constexpr auto	IDX_X = 0U
constexpr auto	IDX_Y = 1U
constexpr auto	IDX_HEADING = 2U
constexpr auto	IDX_VEL_LONG = 3U
constexpr auto	NU = static_cast<std::size_t>(ACADO_NU)
constexpr auto	IDX_JERK = 0U
constexpr auto	IDX_WHEEL_ANGLE_RATE = 1U
constexpr auto	NYN = static_cast<std::size_t>(ACADO_NYN)
constexpr auto	IDYN_X = 0U
constexpr auto	IDYN_Y = 1U
constexpr auto	IDYN_HEADING = 2U
constexpr auto	IDYN_VEL_LONG = 3U
constexpr auto	NY = static_cast<std::size_t>(ACADO_NY)
constexpr auto	IDY_X = 0U
constexpr auto	IDY_Y = 1U
constexpr auto	IDY_HEADING = 2U
constexpr auto	IDY_VEL_LONG = 3U
constexpr auto	IDY_ACC = 4U
constexpr auto	IDY_STEER = 5U

Typedef Documentation

AcadoReal

typedef real_t motion::control::mpc_controller::AcadoReal

Typedef in namespace scope instead of macro–easier for debugging.

Enumeration Type Documentation

Interpolation

enum motion::control::mpc_controller::Interpolation : uint8_t

strong

Enumerator
YES
NO

Variable Documentation

HORIZON

constexpr auto motion::control::mpc_controller::HORIZON = static_cast<std::size_t>(ACADO_N)

constexpr

IDX_HEADING

constexpr auto motion::control::mpc_controller::IDX_HEADING = 2U

constexpr

IDX_JERK

constexpr auto motion::control::mpc_controller::IDX_JERK = 0U

constexpr

IDX_VEL_LONG

constexpr auto motion::control::mpc_controller::IDX_VEL_LONG = 3U

constexpr

IDX_WHEEL_ANGLE_RATE

constexpr auto motion::control::mpc_controller::IDX_WHEEL_ANGLE_RATE = 1U

constexpr

IDX_X

constexpr auto motion::control::mpc_controller::IDX_X = 0U

constexpr

IDX_Y

constexpr auto motion::control::mpc_controller::IDX_Y = 1U

constexpr

IDY_ACC

constexpr auto motion::control::mpc_controller::IDY_ACC = 4U

constexpr

IDY_HEADING

constexpr auto motion::control::mpc_controller::IDY_HEADING = 2U

constexpr

IDY_STEER

constexpr auto motion::control::mpc_controller::IDY_STEER = 5U

constexpr

IDY_VEL_LONG

constexpr auto motion::control::mpc_controller::IDY_VEL_LONG = 3U

constexpr

IDY_X

constexpr auto motion::control::mpc_controller::IDY_X = 0U

constexpr

IDY_Y

constexpr auto motion::control::mpc_controller::IDY_Y = 1U

constexpr

IDYN_HEADING

constexpr auto motion::control::mpc_controller::IDYN_HEADING = 2U

constexpr

IDYN_VEL_LONG

constexpr auto motion::control::mpc_controller::IDYN_VEL_LONG = 3U

constexpr

IDYN_X

constexpr auto motion::control::mpc_controller::IDYN_X = 0U

constexpr

IDYN_Y

constexpr auto motion::control::mpc_controller::IDYN_Y = 1U

constexpr

NU

constexpr auto motion::control::mpc_controller::NU = static_cast<std::size_t>(ACADO_NU)

constexpr

NX

constexpr auto motion::control::mpc_controller::NX = static_cast<std::size_t>(ACADO_NX)

constexpr

NY

constexpr auto motion::control::mpc_controller::NY = static_cast<std::size_t>(ACADO_NY)

constexpr

NYN

constexpr auto motion::control::mpc_controller::NYN = static_cast<std::size_t>(ACADO_NYN)

constexpr