mpc_controller.cpp File Reference

#include "mpc_controller/mpc_controller.hpp"
#include <acado_common.h>
#include <motion_common/motion_common.hpp>
#include <time_utils/time_utils.hpp>
#include <algorithm>
#include <limits>
#include <memory>
#include <stdexcept>
#include <string>

Include dependency graph for mpc_controller.cpp:

Namespaces
	motion

	motion::control

	motion::control::mpc_controller

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

Variables
ACADOworkspace	acadoWorkspace

ACADOvariables	acadoVariables

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

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

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

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

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

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

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

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

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

Namespaces

Typedefs

Variables

Variable Documentation

◆ acadoVariables

◆ acadoWorkspace