A simple demo

Include headers:

Define footsteps:

Setup solver:

The gains are defined here. The default values of optional parameters can be found here: smpc::solver_as::solver_as.

Start simulation:

Solve QP on each iteration of simulation:

Initialize QP

See also smpc::solver_as::set_parameters. Note, that the current state must be given after first variable substitution.

Solve QP

See also smpc::solver::solve.

Obtain the next state

See also smpc::solver::get_next_state.