Container for the (fixed) dimensions of the imported Acados OCP. More...

#include <acados_solver.hpp>

Public Attributes
unsigned int	nx
	Differential state vector size. More...

unsigned int	nz
	Algebraic state vector size. More...

unsigned int	np
	Runtime parameters vector size. More...

unsigned int	nu
	Control vector size. More...

unsigned int	nbx
	Number of state stage bounds. More...

unsigned int	nbx_0
	Number of initial state stage bounds. More...

unsigned int	nbx_N
	Number of terminal state bounds. More...

unsigned int	nbu
	Number of control bounds. More...

unsigned int	ng
	Number of polytopic constraints. More...

unsigned int	ng_N
	Number of polytopic constraints at stage N. More...

unsigned int	nh
	Number of non-linear constraints. More...

unsigned int	nh_N
	Number of non-linear constraints at stage N. More...

unsigned int	nphi
	Number of "convex-over-nonlinear" constraints (see Acados documentation) More...

unsigned int	nphi_N
	Number of "convex-over-nonlinear" constraints at stage N. More...

unsigned int	ns
	Total number of slack variable. More...

unsigned int	ns_N
	Total number of slack variable at stage N. More...

unsigned int	nsbx
	Number of slack variables used by state bounds. More...

unsigned int	nsbx_N
	Number of slack variables used by terminal state bounds. More...

unsigned int	nsbu
	Number of slack variables used by control bounds. More...

unsigned int	nsh
	Number of slack variables used by non-linear constraints. More...

unsigned int	nsh_N
	Number of slack variables used by (terminal) non-linear constraints. More...

unsigned int	nsg
	Number of slack variables used by polytopic constraints. More...

unsigned int	nsg_N
	Number of slack variables used by (terminal) polytopic constraints. More...

unsigned int	nsphi
	Number of slack variables used by convex-over-nonlinear constraints. More...

unsigned int	nsphi_N
	Number of slack variables used by (terminal) convex-over-nonlinear constraints. More...

unsigned int	ny
	Size of the reference vector. More...

unsigned int	ny_0
	Size of the reference vector at initial stage. More...

unsigned int	ny_N
	Size of the reference vector at terminal stage. More...

unsigned int	nr
	Dimensions of the image of the inner nonlinear function in positive definite constr. See Acados documentation. More...

Detailed Description

Container for the (fixed) dimensions of the imported Acados OCP.

Member Data Documentation

◆ nx

unsigned int acados::AcadosSolver::Dimensions::nx

Differential state vector size.

◆ nz

unsigned int acados::AcadosSolver::Dimensions::nz

Algebraic state vector size.

◆ np

unsigned int acados::AcadosSolver::Dimensions::np

Runtime parameters vector size.

◆ nu

unsigned int acados::AcadosSolver::Dimensions::nu

Control vector size.

◆ nbx

unsigned int acados::AcadosSolver::Dimensions::nbx

Number of state stage bounds.

◆ nbx_0

unsigned int acados::AcadosSolver::Dimensions::nbx_0

Number of initial state stage bounds.

Note: Typically equal to nx, used to set initial state before calling solve().

◆ nbx_N

unsigned int acados::AcadosSolver::Dimensions::nbx_N

Number of terminal state bounds.

◆ nbu

unsigned int acados::AcadosSolver::Dimensions::nbu

Number of control bounds.

Note: Warning, not defined at stage N.

◆ ng

unsigned int acados::AcadosSolver::Dimensions::ng

Number of polytopic constraints.

◆ ng_N

unsigned int acados::AcadosSolver::Dimensions::ng_N

Number of polytopic constraints at stage N.

◆ nh

unsigned int acados::AcadosSolver::Dimensions::nh

Number of non-linear constraints.

◆ nh_N

unsigned int acados::AcadosSolver::Dimensions::nh_N

Number of non-linear constraints at stage N.

◆ nphi

unsigned int acados::AcadosSolver::Dimensions::nphi

Number of "convex-over-nonlinear" constraints (see Acados documentation)

◆ nphi_N

unsigned int acados::AcadosSolver::Dimensions::nphi_N

Number of "convex-over-nonlinear" constraints at stage N.

◆ ns

unsigned int acados::AcadosSolver::Dimensions::ns

Total number of slack variable.

◆ ns_N

unsigned int acados::AcadosSolver::Dimensions::ns_N

Total number of slack variable at stage N.

◆ nsbx

unsigned int acados::AcadosSolver::Dimensions::nsbx

Number of slack variables used by state bounds.

◆ nsbx_N

unsigned int acados::AcadosSolver::Dimensions::nsbx_N

Number of slack variables used by terminal state bounds.

◆ nsbu

unsigned int acados::AcadosSolver::Dimensions::nsbu

Number of slack variables used by control bounds.

◆ nsh

unsigned int acados::AcadosSolver::Dimensions::nsh

Number of slack variables used by non-linear constraints.

◆ nsh_N

unsigned int acados::AcadosSolver::Dimensions::nsh_N

Number of slack variables used by (terminal) non-linear constraints.

◆ nsg

unsigned int acados::AcadosSolver::Dimensions::nsg

Number of slack variables used by polytopic constraints.

◆ nsg_N

unsigned int acados::AcadosSolver::Dimensions::nsg_N

Number of slack variables used by (terminal) polytopic constraints.

◆ nsphi

unsigned int acados::AcadosSolver::Dimensions::nsphi

Number of slack variables used by convex-over-nonlinear constraints.

◆ nsphi_N

unsigned int acados::AcadosSolver::Dimensions::nsphi_N

Number of slack variables used by (terminal) convex-over-nonlinear constraints.

◆ ny

unsigned int acados::AcadosSolver::Dimensions::ny

Size of the reference vector.

◆ ny_0

unsigned int acados::AcadosSolver::Dimensions::ny_0

Size of the reference vector at initial stage.

◆ ny_N

unsigned int acados::AcadosSolver::Dimensions::ny_N

Size of the reference vector at terminal stage.

◆ nr

unsigned int acados::AcadosSolver::Dimensions::nr

Dimensions of the image of the inner nonlinear function in positive definite constr. See Acados documentation.

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

/home/runner/work/acados_solver_ros2/acados_solver_ros2/acados_solver_base/include/acados_solver_base/acados_solver.hpp

Public Attributes