A configuration class for the MpcController. More...

#include <config.hpp>

Public Member Functions
	Config (const LimitsConfig &limits, const VehicleConfig &vehicle_param, const BehaviorConfig &behavior, const OptimizationConfig &optimization_param, std::chrono::nanoseconds sample_period_tolerance, std::chrono::nanoseconds control_lookahead_duration, Interpolation interpolation_option)

const LimitsConfig &	limits () const noexcept

const VehicleConfig &	vehicle_param () const noexcept

const BehaviorConfig &	behavior () const noexcept

const OptimizationConfig &	optimization_param () const noexcept

std::chrono::nanoseconds	sample_period_tolerance () const noexcept

std::chrono::nanoseconds	control_lookahead_duration () const noexcept

bool	do_interpolate () const noexcept

Detailed Description

A configuration class for the MpcController.

Constructor & Destructor Documentation

motion::control::mpc_controller::Config::Config	(	const LimitsConfig &	limits,
		const VehicleConfig &	vehicle_param,
		const BehaviorConfig &	behavior,
		const OptimizationConfig &	optimization_param,
		std::chrono::nanoseconds	sample_period_tolerance,
		std::chrono::nanoseconds	control_lookahead_duration,
		Interpolation	interpolation_option
	)

const BehaviorConfig & motion::control::mpc_controller::Config::behavior ( ) const

noexcept

std::chrono::nanoseconds motion::control::mpc_controller::Config::control_lookahead_duration ( ) const

noexcept

bool motion::control::mpc_controller::Config::do_interpolate ( ) const

noexcept

const LimitsConfig & motion::control::mpc_controller::Config::limits ( ) const

noexcept

const OptimizationConfig & motion::control::mpc_controller::Config::optimization_param ( ) const

noexcept

std::chrono::nanoseconds motion::control::mpc_controller::Config::sample_period_tolerance ( ) const

noexcept

const VehicleConfig & motion::control::mpc_controller::Config::vehicle_param ( ) const

noexcept

The documentation for this class was generated from the following files: