A sparse MPC solver for walking motion generation (old version).
Namespaces | Functions
solver/state_handling.h File Reference
#include "smpc_common.h"
#include "problem_param.h"

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Namespaces

namespace  state_handling
 Various operations on the vector of states.

Functions

void state_handling::tilde_to_bar (const double sinA, const double cosA, double *state)
 Converts state from X_tilde to X_bar.
void state_handling::bar_to_tilde (const double sinA, const double cosA, double *state)
 Converts state from X_tilde to X_bar.
void state_handling::tilde_to_orig (const double h, double *state)
 Converts state from X_tilde to original variables.
void state_handling::orig_to_tilde (const double h, double *state)
 Converts state from original variables to X_tilde.
void state_handling::get_state_tilde (const problem_parameters &sp, const double *X, const int ind, double *state)
 Returns the next state as X_tilde.
void state_handling::get_state (const problem_parameters &sp, const double *X, const int ind, double *state)
 Returns the next state represented by original variables.
void state_handling::get_controls (const int preview_window_size, const double *X, const int ind, double *controls)
 Returns the controls,that must be applied to reach the next state.

Detailed Description

Author:
Alexander Sherikov
Date:
14.09.2011 17:03:42 MSD

Definition in file state_handling.h.