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NMPCControllerCGMRES

rust_robotics_control::cgmres_nmpc

Struct NMPCControllerCGMRES 

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pub struct NMPCControllerCGMRES {
Show 17 fields
    pub zeta: f64,
    pub ht: f64,
    pub tf: f64,
    pub alpha: f64,
    pub n: usize,
    pub threshold: f64,
    pub input_num: usize,
    pub max_iteration: usize,
    pub u_1s: Vec<f64>,
    pub u_2s: Vec<f64>,
    pub dummy_u_1s: Vec<f64>,
    pub dummy_u_2s: Vec<f64>,
    pub raw_1s: Vec<f64>,
    pub raw_2s: Vec<f64>,
    pub history_u_1: Vec<f64>,
    pub history_u_2: Vec<f64>,
    pub history_f: Vec<f64>,
    /* private fields */

}
Expand description

NMPC Controller using C-GMRES (Continuation GMRES) algorithm

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§zeta: f64§ht: f64§tf: f64§alpha: f64§n: usize§threshold: f64§input_num: usize§max_iteration: usize§u_1s: Vec<f64>§u_2s: Vec<f64>§dummy_u_1s: Vec<f64>§dummy_u_2s: Vec<f64>§raw_1s: Vec<f64>§raw_2s: Vec<f64>§history_u_1: Vec<f64>§history_u_2: Vec<f64>§history_f: Vec<f64>

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impl NMPCControllerCGMRES

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pub fn new() -> Self

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pub fn calc_input( &mut self, x: f64, y: f64, yaw: f64, v: f64, time: f64, ) -> (Vec<f64>, Vec<f64>)

Calculate control input using C-GMRES algorithm

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impl Default for NMPCControllerCGMRES

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fn default() -> Self

Returns the “default value” for a type. Read more

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