A sparse MPC solver for walking motion generation.
Public Member Functions | List of all members
IP::matrix_E Class Reference

Implements multiplication of matrix E and E' by a vector. More...

#include <ip_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_ETx (const problem_parameters &, const double *, double *)
 Forms E' * x. More...
 

Detailed Description

Implements multiplication of matrix E and E' by a vector.

Definition at line 32 of file ip_matrix_E.h.

Constructor & Destructor Documentation

◆ matrix_E()

IP::matrix_E::matrix_E ( )
inline

Definition at line 36 of file ip_matrix_E.h.

◆ ~matrix_E()

IP::matrix_E::~matrix_E ( )
inline

Definition at line 37 of file ip_matrix_E.h.

Member Function Documentation

◆ form_ETx()

void IP::matrix_E::form_ETx ( const problem_parameters ppar,
const double *  x,
double *  result 
)

Forms E' * x.

Parameters
[in]pparparameters.
[in]xvector x (SMPC_NUM_STATE_VAR * N).
[out]resultvector E' * nu (SMPC_NUM_VAR * N)

Definition at line 83 of file ip_matrix_E.cpp.

◆ form_Ex()

void IP::matrix_E::form_Ex ( const problem_parameters ppar,
const double *  x,
double *  result 
)

Forms E*x.

Parameters
[in]pparparameters.
[in]xvector x (SMPC_NUM_VAR * N).
[out]resultvector E*x (SMPC_NUM_STATE_VAR * N)

Definition at line 30 of file ip_matrix_E.cpp.


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