A sparse MPC solver for walking motion generation.
ip_problem_param.h
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1 
8 #ifndef IP_PROBLEM_PARAM_H
9 #define IP_PROBLEM_PARAM_H
10 
11 /****************************************
12  * INCLUDES
13  ****************************************/
14 
15 #include "smpc_common.h"
16 
17 /****************************************
18  * DEFINES
19  ****************************************/
20 
21 /****************************************
22  * TYPEDEFS
23  ****************************************/
24 namespace IP
25 {
27  {
28  public:
29  double cos;
30  double sin;
31 
32  // parameters used in generation of A and B matrices
34  double T;
36  double h;
37 
38  double A3;
39  double A6;
40 
41  double B[3];
42  };
43 
44 
49  {
50  public:
51  problem_parameters (const int, const double, const double, const double, const double);
53 
54  void set_state_parameters (const double*, const double*, const double, const double*);
55 
56 
58  int N;
59 
60  // static matrices and vectors
62 
63  double i2Q[3];
65 
67 
68  double i2P;
70 
73  double h_initial;
74 
76  };
77 }
79 #endif /*IP_PROBLEM_PARAM_H*/
80 
void set_state_parameters(const double *, const double *, const double, const double *)
Initializes quadratic problem.
A set of problem parameters.
problem_parameters(const int, const double, const double, const double, const double)
state_parameters * spar
double h_initial
Height of the CoM at initial state divided by the gravity, this initial state precede the first state...