A sparse MPC solver for walking motion generation.
Namespaces | Defines
API of the solver library

Namespaces

namespace  smpc

Defines

#define SMPC_NUM_STATE_VAR   6
 Number of state variables.
#define SMPC_NUM_CONTROL_VAR   2
 Number of control variables.
#define SMPC_NUM_VAR   8
 Total number of variables.

Define Documentation

#define SMPC_NUM_CONTROL_VAR   2

Number of control variables.

Definition at line 26 of file smpc_solver.h.

#define SMPC_NUM_STATE_VAR   6

Number of state variables.

Definition at line 24 of file smpc_solver.h.

#define SMPC_NUM_VAR   8

Total number of variables.

Definition at line 28 of file smpc_solver.h.