controller.cpp:166</div></div>
<div class="ttc" id="aclassrmp_1_1controller_1_1MPCController_html_a9ad3a62f6ef4a0809eb2c4ce51fcd447"><div class="ttname"><a href="classrmp_1_1controller_1_1MPCController.html#a9ad3a62f6ef4a0809eb2c4ce51fcd447">rmp::controller::MPCController::_mpcControl</a></div><div class="ttdeci">Eigen::Vector2d _mpcControl(Eigen::Vector3d s, Eigen::Vector3d s_d, Eigen::Vector2d u_r, Eigen::Vector2d du_p)</div><div class="ttdoc">Execute MPC control process.</div><div class="ttdef"><b>Defini