A sparse MPC solver for walking motion generation (old version).: solver/chol_solve

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00001 
00008 #ifndef CHOL_SOLVE_IP_H
00009 #define CHOL_SOLVE_IP_H
00010 /****************************************
00011  * INCLUDES 
00012  ****************************************/
00013 
00014 #include "smpc_common.h"
00015 #include "matrix_E.h"
00016 #include "matrix_ecL_ip.h"
00017 #include "problem_param.h"
00018 
00019 
00020 /****************************************
00021  * DEFINES
00022  ****************************************/
00023 
00024 using namespace std;
00025 
00028 
00033 class chol_solve_ip
00034 {
00035     public:
00036         /*********** Constructors / Destructors ************/
00037         chol_solve_ip (const int);
00038         ~chol_solve_ip();
00039 
00040         void solve(const problem_parameters&, const double *, const double *, const double *, double *);
00041 
00042     private:
00044         matrix_E E;
00045 
00047         matrix_ecL_ip ecL;
00048 
00050         double *w;
00051 };
00053 #endif /*CHOL_SOLVE_IP_H*/