simple_casadi_mpc::CompiledMPC Class Reference

MPC variant that loads an externally-compiled solver shared library. More...

#include <simple_casadi_mpc.hpp>

Inheritance diagram for simple_casadi_mpc::CompiledMPC:

Classes
struct	CompiledLibraryConfig
	Locator for an AOT-compiled solver shared library. More...

Public Member Functions
template<class T >
	CompiledMPC (const CompiledLibraryConfig &lib_config, std::shared_ptr< T > prob)
	Load the prebuilt solver from lib_config and bind it to prob.
Eigen::VectorXd	solve (Eigen::VectorXd x0, casadi::DMDict new_param_list=casadi::DMDict()) override
	Solve the NLP at the current state and return the first optimal control.
Public Member Functions inherited from simple_casadi_mpc::MPC
template<class T >
	MPC (std::shared_ptr< T > prob, std::string solver_name="ipopt", casadi::Dict config=default_ipopt_config())
	Build the NLP from prob and create the underlying nlpsol.
casadi::MXDict	casadi_prob () const
	Symbolic NLP description {x, f, g, p} constructed from the Problem.
const std::string &	solver_name () const
	Backend name passed to CasADi nlpsol.
casadi::Dict	solver_config () const
	Effective config forwarded to nlpsol (after consuming simple-casadi-mpc keys).
std::vector< casadi_int >	equality_flags () const
	Per-constraint flags marking equality (true) vs inequality (false).

Static Public Member Functions
template<class T >
static void	generate_code (const std::string &export_solver_name, const std::string &export_dir, const std::string &solver_name="ipopt", const casadi::Dict &solver_config=MPC::default_ipopt_config(), const casadi::Dict &codegen_options={})
	Emit the C source for an AOT-compiled solver. Called from a codegen executable.
Static Public Member Functions inherited from simple_casadi_mpc::MPC
static casadi::Dict	default_ipopt_config ()
	Reasonable defaults for the IPOPT backend (silent, warm-start enabled).
static casadi::Dict	default_qpoases_config ()
	Reasonable defaults for SQP method with the qpOASES inner QP solver.
static casadi::Dict	default_fatrop_config ()
	Reasonable defaults for the FATROP backend (auto structure detection).
static bool	equality_required (const std::string &solver_name, const casadi::Dict &config)
	Whether the chosen backend needs an equality flag vector in the config.

Additional Inherited Members
Protected Member Functions inherited from simple_casadi_mpc::MPC
void	build_with_map (size_t nx, size_t nu, casadi_int N, bool mapsum_stage_cost=true, bool expand_inner_functions=true)
Protected Attributes inherited from simple_casadi_mpc::MPC
std::shared_ptr< Problem >	prob_
std::string	solver_name_
casadi::Dict	config_
casadi::MXDict	casadi_prob_
casadi::Function	solver_
std::vector< casadi::MX >	Xs = {}
std::vector< casadi::MX >	Us = {}
casadi::DM	lbw_
casadi::DM	ubw_
casadi::DM	lbg_
casadi::DM	ubg_
std::vector< casadi::DM >	param_vec_ = {}
std::vector< bool >	equality_ = {}
casadi::DM	w0_
casadi::DM	lam_x0_
casadi::DM	lam_g0_

Detailed Description

MPC variant that loads an externally-compiled solver shared library.

Use the CMake helper add_simple_casadi_mpc_codegen to generate and build the shared library at project build time, then pass the resulting CompiledLibraryConfig (provided by a generated _config.cpp) here. Trades flexibility (solver backend and its options are baked in) for the best runtime startup and steady-state solve time.

Constructor & Destructor Documentation

CompiledMPC()

template<class T >

simple_casadi_mpc::CompiledMPC::CompiledMPC ( const CompiledLibraryConfig & lib_config, std::shared_ptr< T > prob )

inline

Load the prebuilt solver from lib_config and bind it to prob.

Parameters

lib_config	locator for the compiled solver, see CompiledLibraryConfig.
prob	the matching Problem instance (used for shapes and parameters).

Member Function Documentation

generate_code()

template<class T >

static void simple_casadi_mpc::CompiledMPC::generate_code ( const std::string & export_solver_name, const std::string & export_dir, const std::string & solver_name = "ipopt", const casadi::Dict & solver_config = MPC::default_ipopt_config(), const casadi::Dict & codegen_options = {} )

inlinestatic

Emit the C source for an AOT-compiled solver. Called from a codegen executable.

The generated <export_solver_name>.c (and matching header) is compiled into a shared library by the add_simple_casadi_mpc_codegen CMake helper.

Template Parameters

T	the Problem subclass to instantiate.

Parameters

export_solver_name	CasADi function name embedded in the generated source.
export_dir	output directory for the generated files.
solver_name	CasADi nlpsol backend baked into the compiled solver.
solver_config	nlpsol options baked in (cannot be changed at runtime).
codegen_options	forwarded to casadi::CodeGenerator.

solve()

Eigen::VectorXd simple_casadi_mpc::CompiledMPC::solve ( Eigen::VectorXd x0, casadi::DMDict new_param_list = casadi::DMDict() )

inlineoverridevirtual

Solve the NLP at the current state and return the first optimal control.

Warm-starts from the previous solve (x, lam_x, lam_g are cached internally), so calling this repeatedly during closed-loop simulation benefits from incremental convergence.

Parameters

x0	current measured state, shape (nx,).
new_param_list	updates to parameters declared via Problem::parameter. Keys are parameter names; values are casadi::DM of matching shape.

Returns

optimal control to apply now, u_0, shape (nu,).

Reimplemented from simple_casadi_mpc::MPC.

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

• /home/runner/work/simple_casadi_mpc/simple_casadi_mpc/include/simple_casadi_mpc/simple_casadi_mpc.hpp