mpc_ctl Struct Reference

#include <mpc_base.h>

Data Fields
struct mpc_conf *	conf
struct mpc_qpx *	qpx
struct mpc_sys *	sys
struct mpc_wmx *	wmx
struct mpc_alm *	alm
real_t *	u_opt
real_t *	l_opt
real_t *	u_ref
real_t *	x_ref
real_t *	u_ini
real_t *	l_ini

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Detailed Description

The main MPC structure. Contains algorithm, system and runtime data.

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Field Documentation

struct mpc_alm* alm

Augmented Lagrangian method data.

struct mpc_conf* conf

Algorithm configuration data.

real_t* l_ini

Initial guess for the optimal Lagrange multiplier.

real_t* l_opt

Optimal Lagrange multiplier.

struct mpc_qpx* qpx

State-dependent quadratic program.

struct mpc_sys* sys

Discrete-time system data.

real_t* u_ini

Initial guess for the optimal control input sequence.

real_t* u_opt

Optimal control input sequence.

real_t* u_ref

Reference for the input sequence.

struct mpc_wmx* wmx

MPC weighting matrices.

real_t* x_ref

Reference for the state trajectory.

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

• include/mpc_base.h