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+   <div id="projectname">MIMPC++
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+   <div id="projectbrief">A fast typesafe Mixed Integer MPC C++ library</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_7a55efb13937f868f8144ef9f510f0c6.html">sim</a></li>  </ul>
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+<div class="title">MPCLeafSystem.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; </div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;drake/systems/framework/leaf_system.h&quot;</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;MPC.hpp&quot;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="System_8hpp.html">System.hpp</a>&quot;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span>mimpc::simulation {</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> MPCType&gt; requires std::derived_from&lt;MPCType, MPC&lt;typename MPCType::SYSTEM_TYPE, typename MPCType::SOLVER_TYPE&gt;&gt;</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classmimpc_1_1simulation_1_1MPCLeafSystem.html">    9</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classmimpc_1_1simulation_1_1MPCLeafSystem.html">MPCLeafSystem</a> : <span class="keyword">public</span> drake::systems::LeafSystem&lt;double&gt; {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;        <a class="code" href="classmimpc_1_1simulation_1_1MPCLeafSystem.html">MPCLeafSystem</a>(MPCType &amp;reacsaSolver, <span class="keywordtype">double</span> control_dt,</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                      <span class="keyword">const</span> MPCType::SYSTEM_TYPE::StateVec &amp;state_constraints_lb,</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;                      <span class="keyword">const</span> MPCType::SYSTEM_TYPE::StateVec &amp;state_constraints_ub);</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        ~<a class="code" href="classmimpc_1_1simulation_1_1MPCLeafSystem.html">MPCLeafSystem</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        MPCType &amp;reacsa_solver_;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <span class="keywordtype">double</span> control_dt_;</div>
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+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        MPCType::SYSTEM_TYPE::StateVec state_constraints_ub_;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        drake::systems::InputPort&lt;double&gt; *plant_out_port_;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        drake::systems::OutputPort&lt;double&gt; *mpc_time_port_;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        drake::systems::OutputPort&lt;double&gt; *control_out_port_;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        drake::systems::DiscreteStateIndex control_out_state_;</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        drake::systems::DiscreteStateIndex mpc_time_out_state_;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        drake::systems::EventStatus discreteUpdate(<span class="keyword">const</span> drake::systems::Context&lt;double&gt; &amp;context,</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                            drake::systems::DiscreteValues&lt;double&gt; *discrete_state) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    };</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;}</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;MPCLeafSystem.tpp&quot;</span></div>
+<div class="ttc" id="aSystem_8hpp_html"><div class="ttname"><a href="System_8hpp.html">System.hpp</a></div><div class="ttdoc">Abstract class to represent system dynamics.</div></div>
+<div class="ttc" id="aclassmimpc_1_1simulation_1_1MPCLeafSystem_html"><div class="ttname"><a href="classmimpc_1_1simulation_1_1MPCLeafSystem.html">mimpc::simulation::MPCLeafSystem</a></div><div class="ttdef"><b>Definition:</b> MPCLeafSystem.hpp:9</div></div>
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+   <div id="projectname">MIMPC++
+   </div>
+   <div id="projectbrief">A fast typesafe Mixed Integer MPC C++ library</div>
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+  <div class="headertitle">
+<div class="title">MPC.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; </div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="Solver_8hpp.html">Solver.hpp</a>&quot;</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;type_traits&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;concepts&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span>mimpc {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> SystemType, <span class="keyword">class</span> SolverType&gt; requires</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    std::derived_from&lt;SystemType, System&lt;SystemType::NUM_STATES, SystemType::NUM_CONT_INPUTS, SystemType::NUM_BIN_INPUTS&gt;&gt; &amp;&amp;</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    std::derived_from&lt;SolverType, Solver&lt;SystemType, SolverType::PRED_STEPS, SolverType::MIN_STEPS_ON, SolverType::MIN_STEPS_OFF, SolverType::MAX_STEPS_ON, SolverType::NUM_STEPS_SOLVER_DELAY, SolverType::INTEGRATION_SCHEME&gt;&gt;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classmimpc_1_1MPC.html">   17</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classmimpc_1_1MPC.html">MPC</a> {</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        <span class="keyword">using</span> SYSTEM_TYPE = SystemType;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <span class="keyword">using</span> SOLVER_TYPE = SolverType;</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        SolverType &amp;solver_;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        Eigen::Matrix&lt;double, SystemType::NUM_STATES, SolverType::PRED_STEPS + 1, Eigen::RowMajor&gt; last_x_;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        Eigen::Matrix&lt;double, SystemType::NUM_CONT_INPUTS +</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                              SystemType::NUM_BIN_INPUTS, SolverType::PRED_STEPS, Eigen::RowMajor&gt; last_u_;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        Eigen::Matrix&lt;double,</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                SystemType::NUM_CONT_INPUTS + SystemType::NUM_BIN_INPUTS,</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                SolverType::history_depth + SolverType::NUM_STEPS_SOLVER_DELAY&gt; history_;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmimpc_1_1MPC.html#ad9e6ec21ff1b0b43d022fd536359ee76">   35</a></span>&#160;        <span class="keyword">explicit</span> <a class="code" href="classmimpc_1_1MPC.html#ad9e6ec21ff1b0b43d022fd536359ee76">MPC</a>(SolverType &amp;solver);</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmimpc_1_1MPC.html#a4724571ea495f05120558446cfa56931">   46</a></span>&#160;        <a class="code" href="Solver_8hpp.html#a383cda20e6b30b64cccaac7a84042133">SOLVER_RETURN</a> <a class="code" href="classmimpc_1_1MPC.html#a4724571ea495f05120558446cfa56931">control</a>(<span class="keyword">const</span> SystemType::StateVec &amp;state, SystemType::InputVec &amp;input, std::string &amp;stats);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classmimpc_1_1MPC.html">MPC</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    };</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;};</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &quot;MPC.tpp&quot;</span></div>
+<div class="ttc" id="aSolver_8hpp_html"><div class="ttname"><a href="Solver_8hpp.html">Solver.hpp</a></div><div class="ttdoc">Abstract class that represents any solver interface and provides a low-lever mpc solver interface.</div></div>
+<div class="ttc" id="aSolver_8hpp_html_a383cda20e6b30b64cccaac7a84042133"><div class="ttname"><a href="Solver_8hpp.html#a383cda20e6b30b64cccaac7a84042133">mimpc::SOLVER_RETURN</a></div><div class="ttdeci">SOLVER_RETURN</div><div class="ttdef"><b>Definition:</b> Solver.hpp:18</div></div>
+<div class="ttc" id="aclassmimpc_1_1MPC_html"><div class="ttname"><a href="classmimpc_1_1MPC.html">mimpc::MPC</a></div><div class="ttdef"><b>Definition:</b> MPC.hpp:17</div></div>
+<div class="ttc" id="aclassmimpc_1_1MPC_html_a4724571ea495f05120558446cfa56931"><div class="ttname"><a href="classmimpc_1_1MPC.html#a4724571ea495f05120558446cfa56931">mimpc::MPC::control</a></div><div class="ttdeci">SOLVER_RETURN control(const SystemType::StateVec &amp;state, SystemType::InputVec &amp;input, std::string &amp;stats)</div></div>
+<div class="ttc" id="aclassmimpc_1_1MPC_html_ad9e6ec21ff1b0b43d022fd536359ee76"><div class="ttname"><a href="classmimpc_1_1MPC.html#ad9e6ec21ff1b0b43d022fd536359ee76">mimpc::MPC::MPC</a></div><div class="ttdeci">MPC(SolverType &amp;solver)</div></div>
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