Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12]

▼NAS
Cchol_solve	Solves KKT system using Cholesky decomposition
Cconstraint	Defines constraints associated with states of the system
Cmatrix_E	Implements multiplication of matrix E and E' by a vector
Cmatrix_ecL	Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
Cproblem_parameters	A set of problem parameters
Cstate_parameters
▼NIP
Cchol_solve	Solves KKT system using Cholesky decomposition
Cmatrix_E	Implements multiplication of matrix E and E' by a vector
Cmatrix_ecL	Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
Cproblem_parameters	A set of problem parameters
Cstate_parameters
▼Nsmpc
Ccontrol	A container for a control vector
Csolver	Abstract class providing common interface functions
Csolver_as	API of the sparse MPC solver
Csolver_ip	API of the sparse MPC solver
Cstate	An abstract class representing state
Cstate_com	A container for a state in the original form:
Cstate_zmp	A container for a state in tilde form (after variable substitution):
CdefConstraints	Default footstep constraints
Cfootstep	Defines a footstep
Cqp_as	Solve a quadratic program with a specific structure. qp_as = Quadratic Programming / Active Set
Cqp_ip	Solve a quadratic program with a specific structure. qp_ip = Quadratic Programming / Interior-point method
CRectangularConstraint_ZMP	Defines rectangular constraints (of the form D*z <= d) for the ZMP
Csmpc_parameters	A container for parameters of the SMPC solver
CWMG	Defines the parameters of the Walking Pattern Generator