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.