A sparse MPC solver for walking motion generation.
ip_matrix_E.h
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1 
8 #ifndef IP_MATRIX_E_H
9 #define IP_MATRIX_E_H
10 /****************************************
11  * INCLUDES
12  ****************************************/
13 
14 #include "smpc_common.h"
15 #include "ip_problem_param.h"
16 
17 
18 /****************************************
19  * DEFINES
20  ****************************************/
21 
22 using namespace std;
23 
26 
27 namespace IP
28 {
32  class matrix_E
33  {
34  public:
35  /*********** Constructors / Destructors ************/
36  matrix_E (){};
37  ~matrix_E (){};
38 
39  void form_Ex (const problem_parameters&, const double *, double *);
40  void form_ETx (const problem_parameters&, const double *, double *);
41  };
42 }
44 #endif /*IP_MATRIX_E_H*/
IP::problem_parameters
A set of problem parameters.
Definition: ip_problem_param.h:48
IP::matrix_E::matrix_E
matrix_E()
Definition: ip_matrix_E.h:36
IP::matrix_E::~matrix_E
~matrix_E()
Definition: ip_matrix_E.h:37
smpc_common.h
ip_problem_param.h
IP::matrix_E
Implements multiplication of matrix E and E' by a vector.
Definition: ip_matrix_E.h:32
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