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    A sparse MPC solver for walking motion generation.
    
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Implements multiplication of matrix E and E' by a vector. More...
#include <as_matrix_E.h>
Public Member Functions | |
| matrix_E () | |
| ~matrix_E () | |
| void | form_Ex (const problem_parameters &, const double *, double *) | 
| Forms E*x.  More... | |
| void | form_i2HETx (const problem_parameters &, const double *, double *) | 
| Forms i2H * E' * x.  More... | |
Implements multiplication of matrix E and E' by a vector.
Definition at line 31 of file as_matrix_E.h.
      
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  inline | 
Definition at line 35 of file as_matrix_E.h.
      
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  inline | 
Definition at line 36 of file as_matrix_E.h.
| void AS::matrix_E::form_Ex | ( | const problem_parameters & | ppar, | 
| const double * | x, | ||
| double * | result | ||
| ) | 
Forms E*x.
| [in] | ppar | parameters. | 
| [in] | x | vector x (SMPC_NUM_VAR * N). | 
| [out] | result | vector E*x (SMPC_NUM_STATE_VAR * N) | 
Definition at line 29 of file as_matrix_E.cpp.
| void AS::matrix_E::form_i2HETx | ( | const problem_parameters & | ppar, | 
| const double * | x, | ||
| double * | result | ||
| ) | 
Forms i2H * E' * x.
| [in] | ppar | parameters. | 
| [in] | x | vector x (SMPC_NUM_STATE_VAR * N). | 
| [out] | result | vector E' * nu (SMPC_NUM_VAR * N) | 
Definition at line 78 of file as_matrix_E.cpp.
 1.8.15