mpc_alm Struct Reference

#include <mpc_base.h>

Data Fields
struct mpc_fgm *	fgm
real_t *	l_0
real_t *	zx_lb
real_t *	zx_ub
uint32_t *	i_ex
real_t *	mu
real_t *	E
real_t *	Kx_Ai
real_t *	e_lb
real_t *	e_ub
real_t *	Linv
uint32_t	STATES
uint32_t	STCONSTRS
uint32_t	HOR_INPUTS
uint32_t	HOR_STCONSTRS

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Detailed Description

Variables used by the augmented Lagrangian method.

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Field Documentation

real_t* E

Linear factor of 2-sided state constraint.

real_t* e_lb

Lower bound for the mixed constraint.

real_t* e_ub

Upper bound for the mixed constraint.

uint32_t HOR_INPUTS

Horizon times number of inputs.

uint32_t HOR_STCONSTRS

Horizon times number of states constraints.

uint32_t* i_ex

Maximum number of external loop (ALM) iterations.

real_t* Kx_Ai

Prediction component of the mixed constraint bound.

real_t* l_0

Initial guess for the optimal multiplier.

real_t* Linv

Inverse of gradient Lipschitz constant (1/L).

real_t* mu

Augmented Lagrange method penalty parameter.

uint32_t STATES

Number of system states.

uint32_t STCONSTRS

Number of state constraints.

real_t* zx_lb

Mixed constraint lower bound as function of current state.

real_t* zx_ub

Mixed constraint upper bound as function of current state.

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The documentation for this struct was generated from the following file:

• include/mpc_base.h