Modeling-Coding-Automation-Project · claude-a · May 21, 2025 · May 21, 2025 · May 21, 2025 · May 21, 2025
diff --git a/external_libraries/base_utility_cpp b/external_libraries/base_utility_cpp
diff --git a/external_libraries/python_control_to_cpp b/external_libraries/python_control_to_cpp
diff --git a/external_libraries/python_math_to_cpp b/external_libraries/python_math_to_cpp
diff --git a/external_libraries/python_numpy_to_cpp b/external_libraries/python_numpy_to_cpp
diff --git a/mpc_utility/mpc_state_space_utility.hpp b/mpc_utility/mpc_state_space_utility.hpp
@@ -14,7 +14,7 @@ template <typename F_Type, typename Phi_Type, std::size_t Np, std::size_t Nc,
           std::size_t Number_Of_Input, std::size_t Number_Of_State,
           std::size_t Number_Of_Output>
 class MPC_PredictionMatrices {
-private:
+protected:
   /* Type */
   using _T = typename F_Type::Value_Type;
 
@@ -195,7 +195,7 @@ inline void calculate_dif(const Ref_Type &ref, const Fx_Type &Fx,
 
 /* MPC Reference Trajectory */
 template <typename Ref_Type, std::size_t Np> class MPC_ReferenceTrajectory {
-private:
+protected:
   /* Type */
   using _T = typename Ref_Type::Value_Type;
 

diff --git a/python_mpc/python_linear_mpc.hpp b/python_mpc/python_linear_mpc.hpp
@@ -81,7 +81,7 @@ class LTI_MPC_NoConstraints {
   using PredictionMatrices_Type = PredictionMatrices_Type_In;
   using ReferenceTrajectory_Type = ReferenceTrajectory_Type_In;
 
-private:
+protected:
   /* Type */
   using _T = typename PredictionMatrices_Type::Value_Type;
 
@@ -247,7 +247,7 @@ class LTI_MPC_NoConstraints {
     return this->_U_latest;
   }
 
-private:
+protected:
   /* Function */
   inline void _compensate_X_Y_delay(const X_Type &X_in, const Y_Type &Y_in,
                                     X_Type &X_out, Y_Type &Y_out) {
@@ -272,7 +272,7 @@ class LTI_MPC_NoConstraints {
     return U;
   }
 
-private:
+protected:
   /* Variables */
   LKF_Type _kalman_filter;
   PredictionMatrices_Type _prediction_matrices;

diff --git a/test_vs/MCAP_tester b/test_vs/MCAP_tester
+27 −0		.vscode/launch.json
+32 −3		.vscode/settings.json
+30 −0		.vscode/tasks.json
+1 −1		test_vs/MCAP_tester
+1 −1		.github/workflows/run_SIL_test.yml
+1 −1		external_libraries/base_utility_cpp
+1 −1		external_libraries/python_math_to_cpp
+1 −1		external_libraries/python_numpy_to_cpp
+8 −8		python_control/python_control_kalman_filter.hpp
+4 −4		python_control/python_control_least_squares.hpp
+6 −6		python_control/python_control_lqr.hpp
+8 −7		python_control/python_control_pid_controller.hpp
+10 −10		python_control/python_control_state_space.hpp
+2 −2		python_control/python_control_transfer_function.hpp
+1 −1		test_vs/MCAP_tester
+4 −4		base_matrix/base_matrix_eigen_solver.hpp
+1 −1		base_matrix/base_matrix_lu_decomposition.hpp
+5 −5		base_matrix/base_matrix_qr_decomposition.hpp
+1 −1		external_libraries/base_utility_cpp
+1 −1		external_libraries/python_math_to_cpp
+1 −1		python_numpy/python_numpy_base.hpp
+2 −2		python_numpy/python_numpy_linalg_cholesky.hpp
+6 −6		python_numpy/python_numpy_linalg_eig.hpp
+2 −2		python_numpy/python_numpy_linalg_lu.hpp
+5 −5		python_numpy/python_numpy_linalg_qr.hpp
+1 −1		test_vs/MCAP_tester