mpc_qpx Struct Reference

#include <mpc_base.h>

Data Fields
real_t *	HoL
real_t *	gxoL
real_t *	E
real_t *	u_lb
real_t *	u_ub
real_t *	zx_lb
real_t *	zx_ub
uint32_t	HOR_INPUTS
uint32_t	HOR_STCONSTRS

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Detailed Description

MPC quadratic program form for a given system state x.

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Field Documentation

real_t* E

The state-dependent inequality constraints matrix.

real_t* gxoL

The gradient vector.

real_t* HoL

The Hessian matrix.

uint32_t HOR_INPUTS

The length of the state independent constraints.

uint32_t HOR_STCONSTRS

The length of the state dependent constraints.

real_t* u_lb

The lower bound for the state independent constraints.

real_t* u_ub

The upper bound for the state independent constraints.

real_t* zx_lb

The lower bound for the state dependent constraints.

real_t* zx_ub

The upper bound for the state dependent constraints.

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

• include/mpc_base.h