#include <sobec/walk-without-think/mpc.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MPCWalk (boost::shared_ptr< MPCWalkParams > params, boost::shared_ptr< ShootingProblem > problem)

virtual	~MPCWalk ()

void	initialize (const std::vector< Eigen::VectorXd > &xs, const std::vector< Eigen::VectorXd > &us)
	once all fields are set, init the mpc manager with guess traj More...

void	calc (const Eigen::Ref< const VectorXd > &x, const int t)
	calc the OCP solution. Init must be called first. More...

void	updateTerminalCost (const int t)

void	findTerminalStateResidualModel ()

void	findStateModel ()

Public Attributes
boost::shared_ptr< MPCWalkParams >	params
	Parameters to tune the algorithm, given at init. More...

boost::shared_ptr< ShootingProblem >	storage
	The reference shooting problem storing all shooting nodes. More...

boost::shared_ptr< ShootingProblem >	problem
	the MPC problem used for solving. More...

boost::shared_ptr< SolverFDDP >	solver
	Solver for MPC. More...

boost::shared_ptr< ResidualModelState >	terminalStateResidual
	Keep a direct reference to the terminal residual. More...

boost::shared_ptr< StateMultibody >	state
	Keep a direct reference to the terminal state. More...

Protected Attributes
double	reg

Constructor & Destructor Documentation

◆ MPCWalk()

sobec::MPCWalk::MPCWalk	(	boost::shared_ptr< MPCWalkParams >	params,
		boost::shared_ptr< ShootingProblem >	problem
	)

explicit

◆ ~MPCWalk()

virtual sobec::MPCWalk::~MPCWalk ( )

inlinevirtual

Member Function Documentation

◆ calc()

void sobec::MPCWalk::calc	(	const Eigen::Ref< const VectorXd > &	x,
		const int	t
	)

calc the OCP solution. Init must be called first.

Change the value of the reference cost

Recede the horizon

Change Warm start

Change init constraint

Solve

◆ findStateModel()

void sobec::MPCWalk::findStateModel ( )

◆ findTerminalStateResidualModel()

void sobec::MPCWalk::findTerminalStateResidualModel ( )

◆ initialize()

void sobec::MPCWalk::initialize	(	const std::vector< Eigen::VectorXd > &	xs,
		const std::vector< Eigen::VectorXd > &	us
	)

once all fields are set, init the mpc manager with guess traj

◆ updateTerminalCost()

void sobec::MPCWalk::updateTerminalCost ( const int t )

Member Data Documentation

◆ params

boost::shared_ptr<MPCWalkParams> sobec::MPCWalk::params

Parameters to tune the algorithm, given at init.

◆ problem

boost::shared_ptr<ShootingProblem> sobec::MPCWalk::problem

the MPC problem used for solving.

◆ reg

double sobec::MPCWalk::reg

protected

◆ solver

boost::shared_ptr<SolverFDDP> sobec::MPCWalk::solver

Solver for MPC.

◆ state

boost::shared_ptr<StateMultibody> sobec::MPCWalk::state

Keep a direct reference to the terminal state.

◆ storage

boost::shared_ptr<ShootingProblem> sobec::MPCWalk::storage

The reference shooting problem storing all shooting nodes.

◆ terminalStateResidual

boost::shared_ptr<ResidualModelState> sobec::MPCWalk::terminalStateResidual

Keep a direct reference to the terminal residual.

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

include/sobec/walk-without-think/mpc.hpp
include/sobec/walk-without-think/mpc.hxx

Public Member Functions

Public Attributes

Protected Attributes