A sparse MPC solver for walking motion generation (old version).: solver/qp

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00001 
00008 #ifndef QP_SOLVER_H
00009 #define QP_SOLVER_H
00010 
00011 /****************************************
00012  * INCLUDES 
00013  ****************************************/
00014 #include "smpc_common.h"
00015 #include "problem_param.h"
00016 
00017 #include <vector>
00018 
00019 
00020 /****************************************
00021  * Defines
00022  ****************************************/
00023 
00024 
00025 using namespace std;
00026 
00029 
00032 class qp_solver : public problem_parameters
00033 {
00034     public:
00035 // functions        
00036         qp_solver(
00037                 const int N_, 
00038                 const double, 
00039                 const double, 
00040                 const double,
00041                 const double,
00042                 const double);
00043 
00044         virtual ~qp_solver()
00045         {
00046             if (dX  != NULL)
00047                 delete dX;
00048         };
00049 
00050 
00051 
00052         void form_init_fp(const double *, const double *, const double *, double *);
00053 
00054 
00055         virtual void set_parameters(
00056                 const double*,
00057                 const double*,
00058                 const double,
00059                 const double*,
00060                 const double*,
00061                 const double*,
00062                 const double*,
00063                 const double*) = 0;
00064         virtual int solve () = 0;
00065    
00066 
00067 // variables
00071         double *X;
00072 
00073 
00076         double gain_alpha;
00077         double gain_beta;
00078         double gain_gamma;
00080 
00082         double tol;
00083 
00084     // variables and descent direction
00085      
00087         double *dX;
00088 
00090         double alpha;
00091 
00094         double h_initial;
00095 };
00096 
00098 #endif /*QP_SOLVER_H*/