Class Hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 12]

CAS::chol_solve	Solves KKT system using Cholesky decomposition
CIP::chol_solve	Solves KKT system using Cholesky decomposition
CAS::constraint	Defines constraints associated with states of the system
Csmpc::control	A container for a control vector
CdefConstraints	Default footstep constraints
CIP::matrix_E	Implements multiplication of matrix E and E' by a vector
CAS::matrix_E	Implements multiplication of matrix E and E' by a vector
CIP::matrix_ecL	Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
CAS::matrix_ecL	Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
▼CAS::problem_parameters	A set of problem parameters
Cqp_as	Solve a quadratic program with a specific structure. qp_as = Quadratic Programming / Active Set
▼CIP::problem_parameters	A set of problem parameters
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
Cfootstep	Defines a footstep
Csmpc_parameters	A container for parameters of the SMPC solver
▼Csmpc::solver	Abstract class providing common interface functions
Csmpc::solver_as	API of the sparse MPC solver
Csmpc::solver_ip	API of the sparse MPC solver
▼Csmpc::state	An abstract class representing state
Csmpc::state_com	A container for a state in the original form:
Csmpc::state_zmp	A container for a state in tilde form (after variable substitution):
CAS::state_parameters
CIP::state_parameters
CWMG	Defines the parameters of the Walking Pattern Generator