Runtime MPC solver. Builds a CasADi NLP from a Problem and solves it on demand. More...

#include <simple_casadi_mpc.hpp>

Inheritance diagram for simple_casadi_mpc::MPC:

Public Member Functions
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.

virtual Eigen::VectorXd	solve (Eigen::VectorXd x0, casadi::DMDict new_param_list=casadi::DMDict())
	Solve the NLP at the current state and return the first optimal control.

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
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.

Protected Member Functions
void	build_with_map (size_t nx, size_t nu, casadi_int N, bool mapsum_stage_cost=true, bool expand_inner_functions=true)

virtual void	build_solver ()

Protected Attributes
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

Runtime MPC solver. Builds a CasADi NLP from a Problem and solves it on demand.

This is the simplest variant: the NLP is constructed once at construction time and solved at runtime using the chosen CasADi nlpsol backend. For faster iteration time after a startup cost, use JITMPC; for build-time AOT compilation use CompiledMPC.

Constructor & Destructor Documentation

◆ MPC()

template<class T >

simple_casadi_mpc::MPC::MPC	(	std::shared_ptr< T >	prob,
		std::string	solver_name = "ipopt",
		casadi::Dict	config = default_ipopt_config() )

inline

Build the NLP from prob and create the underlying nlpsol.

Parameters

prob	the problem to solve.
solver_name	CasADi nlpsol backend name (e.g. "ipopt", "fatrop", "sqpmethod").
config	nlpsol options. Two simple-casadi-mpc-specific keys are also recognised and consumed before being forwarded to CasADi: `mapsum_stage_cost` (bool, default true): build the stage-cost sum via MapSum so AD stays loop-shaped. `expand_inner_functions` (bool, default true): SX-expand per-stage F/L/G before mapping for faster JIT compilation.

Member Function Documentation

◆ equality_required()

static bool simple_casadi_mpc::MPC::equality_required	(	const std::string &	solver_name,
		const casadi::Dict &	config )

inlinestatic

Whether the chosen backend needs an equality flag vector in the config.

FATROP with structure_detection == "auto" requires it, so the constructor inserts it automatically when this returns true.

◆ solve()

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

inlinevirtual

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 in simple_casadi_mpc::JITMPC, and simple_casadi_mpc::CompiledMPC.

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

Public Member Functions

Static Public Member Functions