Given the current position, orientation, and velocity of the robot, compute the velocity commands.</div><div class="ttdef"><b>Definition:</b> mpc_controller.cpp:178</div></div>
<div class="ttc" id="aclassrmp_1_1controller_1_1MPCController_html_a102db4105ab8c479863e2711e89c66d5"><div class="ttname"><a href="classrmp_1_1controller_1_1MPCController.html#a102db4105ab8c479863e2711e89c66d5">rmp::controller::MPCController::~MPCController</a></div><div class="ttdeci">~MPCController()</div><div class="ttdoc">Destroy