A sparse MPC solver for walking motion generation.
Classes | Enumerations | Functions
smpc Namespace Reference

Classes

class  control
 A container for a control vector. More...
 
class  solver
 Abstract class providing common interface functions. More...
 
class  solver_as
 API of the sparse MPC solver. More...
 
class  solver_ip
 API of the sparse MPC solver. More...
 
class  state
 An abstract class representing state. More...
 
class  state_com
 A container for a state in the original form: More...
 
class  state_zmp
 A container for a state in tilde form (after variable substitution): More...
 

Enumerations

enum  backtrackingSearchType { SMPC_IP_BS_NONE = 0, SMPC_IP_BS_LOGBAR = 1, SMPC_IP_BS_ORIGINAL = 2 }
 Type of the backtracking search. More...
 

Functions

void enable_fexceptions ()
 Enable floating point exceptions: die rather than process incorrect data. SIGFPE is sent to the program, when an error occurs. More...
 

Enumeration Type Documentation

◆ backtrackingSearchType

Type of the backtracking search.

Enumerator
SMPC_IP_BS_NONE 

Disable backtracking search.

SMPC_IP_BS_LOGBAR 

Use objective function, which includes logarithmic barrier term.

SMPC_IP_BS_ORIGINAL 

Use original objective function (no logarithmic barrier term).

Definition at line 420 of file smpc_solver.h.

Function Documentation

◆ enable_fexceptions()

void smpc::enable_fexceptions ( )

Enable floating point exceptions: die rather than process incorrect data. SIGFPE is sent to the program, when an error occurs.

Note
If feenableexcept() is not present on the system, the function does nothing.

Definition at line 32 of file smpc_solver.cpp.