Struct Solution 

pub struct Solution<'a, T, const NX: usize, const NU: usize, const HX: usize, const HU: usize> {
    pub reason: TerminationReason,
    pub iterations: usize,
    pub prim_residual: T,
    pub dual_residual: T,
    /* private fields */
}

Fields

reason: TerminationReason

iterations: usize

prim_residual: T

dual_residual: T

Implementations

impl<T: RealField + Copy, const NX: usize, const NU: usize, const HX: usize, const HU: usize> Solution<'_, T, NX, NU, HX, HU>

pub fn x_prediction(&self, at: usize) -> SVector<T, NX>

Get the predicticted states for the at index

pub fn u_prediction(&self, at: usize) -> SVector<T, NU>

Get the predicticted input for the at index

pub fn x_prediction_full(&self) -> SMatrix<T, NX, HX>

Get the predictiction of states for this solution

pub fn u_prediction_full(&self) -> SMatrix<T, NU, HU>

Get the predictiction of inputs for this solution

pub fn u_now(&self) -> SVector<T, NU>

Get the current contron input to be applied