A sparse MPC solver for walking motion generation.
ip_chol_solve.h
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1 
8 #ifndef IP_CHOL_SOLVE_H
9 #define IP_CHOL_SOLVE_H
10 /****************************************
11  * INCLUDES
12  ****************************************/
13 
14 #include "smpc_common.h"
15 #include "ip_matrix_E.h"
16 #include "ip_matrix_ecL.h"
17 #include "ip_problem_param.h"
18 
19 
20 /****************************************
21  * DEFINES
22  ****************************************/
23 
24 using namespace std;
25 
28 
29 namespace IP
30 {
35  class chol_solve
36  {
37  public:
38  /*********** Constructors / Destructors ************/
39  chol_solve (const int);
40  ~chol_solve();
41 
42  void solve(const problem_parameters&, const double *, const double *, const double *, double *);
43 
44  private:
47 
50 
52  double *w;
53  };
54 }
56 #endif /*IP_CHOL_SOLVE_H*/
A set of problem parameters.
double * w
Lagrange multipliers.
Definition: ip_chol_solve.h:52
matrix_ecL ecL
L for equality constraints.
Definition: ip_chol_solve.h:49
matrix_E E
matrix of equality constraints
Definition: ip_chol_solve.h:46
Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix...
Definition: ip_matrix_ecL.h:42
Solves KKT system using Cholesky decomposition.
Definition: ip_chol_solve.h:35
Implements multiplication of matrix E and E' by a vector.
Definition: ip_matrix_E.h:32