A sparse MPC solver for walking motion generation (old version).
Public Member Functions

Implements multiplication of matrix E and E' by a vector. More...

#include <matrix_E.h>

List of all members.

Public Member Functions

 matrix_E ()
 ~matrix_E ()
void form_Ex (const problem_parameters &, const double *, double *)
 Forms E*x.
void form_ETx (const problem_parameters &, const double *, double *)
 Forms E' * x.

Detailed Description

Implements multiplication of matrix E and E' by a vector.

Definition at line 30 of file matrix_E.h.


Constructor & Destructor Documentation

matrix_E::matrix_E ( ) [inline]

Definition at line 34 of file matrix_E.h.

matrix_E::~matrix_E ( ) [inline]

Definition at line 35 of file matrix_E.h.


Member Function Documentation

void matrix_E::form_ETx ( const problem_parameters ppar,
const double *  x,
double *  result 
)

Forms E' * x.

Parameters:
[in]pparparameters.
[in]xvector x (SMPC_NUM_STATE_VAR * N).
[out]resultvector E' * nu (SMPC_NUM_VAR * N)

Definition at line 86 of file matrix_E.cpp.

void matrix_E::form_Ex ( const problem_parameters ppar,
const double *  x,
double *  result 
)

Forms E*x.

Parameters:
[in]pparparameters.
[in]xvector x (SMPC_NUM_VAR * N).
[out]resultvector E*x (SMPC_NUM_STATE_VAR * N)

Definition at line 28 of file matrix_E.cpp.


The documentation for this class was generated from the following files: