A sparse MPC solver for walking motion generation (old version).
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FS_TYPE_AUTO :
WMG.h
FS_TYPE_DS :
WMG.h
FS_TYPE_SS_L :
WMG.h
FS_TYPE_SS_R :
WMG.h
WMG_HALT :
WMG.h
WMG_OK :
WMG.h
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