Struct Solver 

pub struct Solver<T, POLICY: Policy<T, NX, NU>, const NX: usize, const NU: usize, const HX: usize, const HU: usize> {
    pub config: Config<T>,
    /* private fields */
}

Fields

config: Config<T>

Implementations

impl<T, C: Policy<T, NX, NU>, const NX: usize, const NU: usize, const HX: usize, const HU: usize> Solver<T, C, NX, NU, HX, HU>

where T: Scalar + RealField + Copy,

pub fn new(A: SMatrix<T, NX, NX>, B: SMatrix<T, NX, NU>, policy: C) -> Self

pub fn with_sys(self, sys: LtiFn<T, NX, NU>) -> Self

pub fn initial_condition( &mut self, x_now: SVector<T, NX>, ) -> Problem<'_, T, C, NX, NU, HX, HU>

pub fn solve<'a>( &'a mut self, x_now: SVector<T, NX>, x_ref: Option<&'a SMatrix<T, NX, HX>>, u_ref: Option<&'a SMatrix<T, NU, HU>>, x_con: Option<&mut [Constraint<T, impl ProjectMulti<T, NX, HX>, NX, HX>]>, u_con: Option<&mut [Constraint<T, impl ProjectMulti<T, NU, HU>, NU, HU>]>, ) -> Solution<'a, T, NX, NU, HX, HU>

Trait Implementations

impl<T: Debug, POLICY: Debug + Policy<T, NX, NU>, const NX: usize, const NU: usize, const HX: usize, const HU: usize> Debug for Solver<T, POLICY, NX, NU, HX, HU>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.