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

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00001 
00008 #ifndef MATRIX_E_H
00009 #define MATRIX_E_H
00010 /****************************************
00011  * INCLUDES 
00012  ****************************************/
00013 
00014 #include "smpc_common.h"
00015 #include "problem_param.h"
00016 
00017 
00018 /****************************************
00019  * DEFINES
00020  ****************************************/
00021 
00022 using namespace std;
00023 
00026 
00030 class matrix_E
00031 {
00032     public:
00033         /*********** Constructors / Destructors ************/
00034         matrix_E (){};
00035         ~matrix_E (){};
00036 
00037         void form_Ex (const problem_parameters&, const double *, double *);
00038         void form_ETx (const problem_parameters&, const double *, double *);
00039 };
00041 #endif /*MATRIX_E_H*/