A sparse MPC solver for walking motion generation.
as_matrix_E.h
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1 
8 #ifndef AS_MATRIX_E_H
9 #define AS_MATRIX_E_H
10 /****************************************
11  * INCLUDES
12  ****************************************/
13 
14 #include "smpc_common.h"
15 #include "as_problem_param.h"
16 
17 
18 /****************************************
19  * DEFINES
20  ****************************************/
21 
22 using namespace std;
23 
26 namespace AS
27 {
31  class matrix_E
32  {
33  public:
34  /*********** Constructors / Destructors ************/
35  matrix_E (){};
36  ~matrix_E (){};
37 
38  void form_Ex (const problem_parameters&, const double *, double *);
39  void form_i2HETx (const problem_parameters&, const double *, double *);
40  };
41 }
43 #endif /*AS_MATRIX_E_H*/
AS::matrix_E
Implements multiplication of matrix E and E' by a vector.
Definition: as_matrix_E.h:31
AS::matrix_E::~matrix_E
~matrix_E()
Definition: as_matrix_E.h:36
AS::problem_parameters
A set of problem parameters.
Definition: as_problem_param.h:45
AS::matrix_E::matrix_E
matrix_E()
Definition: as_matrix_E.h:35
smpc_common.h
as_problem_param.h
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