A sparse MPC solver for walking motion generation.
Classes

Classes

class  chol_solve
 Solves KKT system using Cholesky decomposition. More...
 
class  constraint
 Defines constraints associated with states of the system. More...
 
class  matrix_E
 Implements multiplication of matrix E and E' by a vector. More...
 
class  matrix_ecL
 Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix. More...
 
class  problem_parameters
 A set of problem parameters. More...
 
class  state_parameters