A sparse MPC solver for walking motion generation.
File List
Here is a list of all files with brief descriptions:
README.md [code]
include/smpc_solver.h [code]Interface of the library
include/WMG.h [code]
solver/_doxygen.h [code]This file contains only doxygen definitions and is not to be included anywhere
solver/_doxygen_as.h [code]
solver/as_chol_solve.cpp [code]
solver/as_chol_solve.h [code]
solver/as_constraint.h [code]
solver/as_matrix_E.cpp [code]
solver/as_matrix_E.h [code]
solver/as_matrix_ecL.cpp [code]
solver/as_matrix_ecL.h [code]
solver/as_problem_param.cpp [code]
solver/as_problem_param.h [code]
solver/ip_chol_solve.cpp [code]
solver/ip_chol_solve.h [code]
solver/ip_matrix_E.cpp [code]
solver/ip_matrix_E.h [code]
solver/ip_matrix_ecL.cpp [code]
solver/ip_matrix_ecL.h [code]
solver/ip_problem_param.cpp [code]
solver/ip_problem_param.h [code]
solver/qp.h [code]
solver/qp_as.cpp [code]
solver/qp_as.h [code]
solver/qp_ip.cpp [code]
solver/qp_ip.h [code]
solver/smpc_common.h [code]
solver/smpc_solver.cpp [code]The interface class, essentially, a wrapper around qp_as
solver/state_handling.cpp [code]
solver/state_handling.h [code]
WMG/footstep.cpp [code]
WMG/footstep.h [code]
WMG/rect_constraint.cpp [code]
WMG/rect_constraint.h [code]
WMG/smpc_parameters.cpp [code]
WMG/WMG.cpp [code]
WMG/WMG_private.cpp [code]