A sparse MPC solver for walking motion generation.
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
AS::chol_solveSolves KKT system using Cholesky decomposition
IP::chol_solveSolves KKT system using Cholesky decomposition
AS::constraintDefines constraints associated with states of the system
smpc::controlA container for a control vector
defConstraintsDefault footstep constraints
footstepDefines a footstep
IP::matrix_EImplements multiplication of matrix E and E' by a vector
AS::matrix_EImplements multiplication of matrix E and E' by a vector
IP::matrix_ecLInitializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
AS::matrix_ecLInitializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
AS::problem_parametersA set of problem parameters
IP::problem_parametersA set of problem parameters
qp_asSolve a quadratic program with a specific structure. qp_as = Quadratic Programming / Active Set
qp_ipSolve a quadratic program with a specific structure. qp_ip = Quadratic Programming / Interior-point method
RectangularConstraint_ZMPDefines rectangular constraints (of the form D*z <= d) for the ZMP
smpc_parametersA container for parameters of the SMPC solver
smpc::solverAbstract class providing common interface functions
smpc::solver_asAPI of the sparse MPC solver
smpc::solver_ipAPI of the sparse MPC solver
smpc::stateAn abstract class representing state
smpc::state_comA container for a state in the original form:
AS::state_parameters
IP::state_parameters
smpc::state_zmpA container for a state in tilde form (after variable substitution):
WMGDefines the parameters of the Walking Pattern Generator