A sparse MPC solver for walking motion generation (old version).
Public Member Functions
smpc::state_orig Class Reference

A container for a state in the original form: More...

#include <smpc_solver.h>

Inheritance diagram for smpc::state_orig:
smpc::state

List of all members.

Public Member Functions

 state_orig ()
void get_next_state (const solver &smpc_solver)
 Refer to the base class state for description.
void get_state (const solver &smpc_solver, const int ind)
 Refer to the base class state for description.

Detailed Description

A container for a state in the original form:

        x CoM position [meter]
        x CoM velocity [meter/s]
        x CoM acceleration [meter/s^2]
        y CoM position [meter]
        y CoM velocity [meter/s]
        y CoM acceleration [meter/s^2]

Definition at line 146 of file smpc_solver.h.


Constructor & Destructor Documentation

Definition at line 149 of file smpc_solver.h.


Member Function Documentation

void smpc::state_orig::get_next_state ( const solver smpc_solver) [virtual]

Refer to the base class state for description.

Implements smpc::state.

Definition at line 175 of file smpc_solver.cpp.

void smpc::state_orig::get_state ( const solver smpc_solver,
const int  ind 
) [virtual]

Refer to the base class state for description.

Implements smpc::state.

Definition at line 181 of file smpc_solver.cpp.


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