A sparse MPC solver for walking motion generation.
Classes | Enumerations
API of the simulation support library

Classes

class  smpc_parameters
 A container for parameters of the SMPC solver. More...
class  defConstraints
 Default footstep constraints. More...
class  WMG
 Defines the parameters of the Walking Pattern Generator. More...

Enumerations

enum  WMGret { WMG_OK, WMG_HALT }
enum  fs_type { FS_TYPE_AUTO, FS_TYPE_SS_L, FS_TYPE_SS_R, FS_TYPE_DS }

Enumeration Type Documentation

enum fs_type
Enumerator:
FS_TYPE_AUTO 
FS_TYPE_SS_L 
FS_TYPE_SS_R 
FS_TYPE_DS 

Definition at line 42 of file WMG.h.

enum WMGret
Enumerator:
WMG_OK 
WMG_HALT 

Definition at line 36 of file WMG.h.