RiskaverseProblem Struct Reference

Detailed Description

Definition at line 7 of file riskaverse-mpc.cpp.

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Public Types
using	Diag = Eigen::DiagonalMatrix< real_t, Eigen::Dynamic, Eigen::Dynamic >

Public Member Functions
template<class VecX >
auto	u (VecX &&x) const
template<class VecX >
auto	s (VecX &&x) const
template<class VecX >
auto	y (VecX &&x) const
Box	get_C () const
Box	get_D () const
	RiskaverseProblem ()
auto	mpc_dynamics (crvec x, crvec u) const
real_t	f (crvec ux) const
void	grad_f (crvec ux, rvec grad_f) const
void	g (crvec ux, rvec g_u) const
void	grad_g (crvec ux, crvec v, rvec grad_u_v) const

Public Attributes
unsigned	nu = 2
unsigned	nx = 4
unsigned	ns = 2
unsigned	ny = 3
unsigned	n = nu + ns + ny
unsigned	m = 3
real_t	Ts = 0.05
mat	A
mat	B
mat	Q
mat	R
vec	x0

Member Typedef Documentation

Diag

using Diag = Eigen::DiagonalMatrix<real_t, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 55 of file riskaverse-mpc.cpp.

Constructor & Destructor Documentation

RiskaverseProblem()

RiskaverseProblem ( )

inline

Definition at line 57 of file riskaverse-mpc.cpp.

Member Function Documentation

u()

auto u ( VecX &&  x ) const

inline

Definition at line 25 of file riskaverse-mpc.cpp.

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s()

auto s ( VecX &&  x ) const

inline

Definition at line 29 of file riskaverse-mpc.cpp.

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y()

auto y ( VecX &&  x ) const

inline

Definition at line 33 of file riskaverse-mpc.cpp.

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get_C()

Box get_C ( ) const

inline

Definition at line 37 of file riskaverse-mpc.cpp.

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get_D()

Box get_D ( ) const

inline

Definition at line 48 of file riskaverse-mpc.cpp.

mpc_dynamics()

auto mpc_dynamics ( crvec  x, crvec  u  ) const

inline

Definition at line 74 of file riskaverse-mpc.cpp.

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f()

real_t f ( crvec  ux ) const

inline

Definition at line 78 of file riskaverse-mpc.cpp.

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grad_f()

void grad_f ( crvec  ux, rvec  grad_f  ) const

inline

Definition at line 79 of file riskaverse-mpc.cpp.

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g()

void g ( crvec  ux, rvec  g_u  ) const

inline

Definition at line 84 of file riskaverse-mpc.cpp.

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grad_g()

void grad_g ( crvec  ux, crvec  v, rvec  grad_u_v  ) const

inline

Definition at line 91 of file riskaverse-mpc.cpp.

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Member Data Documentation

nu

unsigned nu = 2

Definition at line 8 of file riskaverse-mpc.cpp.

nx

unsigned nx = 4

Definition at line 9 of file riskaverse-mpc.cpp.

ns

unsigned ns = 2

Definition at line 10 of file riskaverse-mpc.cpp.

ny

unsigned ny = 3

Definition at line 11 of file riskaverse-mpc.cpp.

n

unsigned n = nu + ns + ny

Definition at line 12 of file riskaverse-mpc.cpp.

m

unsigned m = 3

Definition at line 13 of file riskaverse-mpc.cpp.

Ts

real_t Ts = 0.05

Definition at line 14 of file riskaverse-mpc.cpp.

A

mat A

Definition at line 16 of file riskaverse-mpc.cpp.

B

mat B

Definition at line 17 of file riskaverse-mpc.cpp.

Q

mat Q

Definition at line 19 of file riskaverse-mpc.cpp.

R

mat R

Definition at line 20 of file riskaverse-mpc.cpp.

x0

vec x0

Definition at line 22 of file riskaverse-mpc.cpp.

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

• riskaverse-mpc.cpp