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

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00001 
00008 #ifndef PROBLEM_PARAM_H
00009 #define PROBLEM_PARAM_H
00010 
00011 /****************************************
00012  * INCLUDES 
00013  ****************************************/
00014 
00015 #include "smpc_common.h"
00016 
00017 /****************************************
00018  * DEFINES
00019  ****************************************/
00020 
00021 /****************************************
00022  * TYPEDEFS 
00023  ****************************************/
00024 
00025 class state_parameters
00026 {
00027     public:
00028         double cos;
00029         double sin;
00030 
00031         // parameters used in generation of A and B matrices
00033         double T;
00035         double h;
00036 
00037         double A3;
00038         double A6;
00039 
00040         double B[3];
00041 };
00042 
00043 
00047 class problem_parameters
00048 {
00049     public:
00050         problem_parameters (const int, const double, const double, const double, const double);
00051         ~problem_parameters();
00052 
00053         void set_state_parameters (const double*, const double*, const double, const double*);
00054 
00055 
00057         int N;
00058 
00059     // static matrices and vectors
00061 
00062         double i2Q[3];
00064 
00066 
00067         double i2P;
00069 
00070         state_parameters *spar;
00071 
00072         bool variable_th_on;
00073 };
00074 
00075 /****************************************
00076  * PROTOTYPES 
00077  ****************************************/
00079 #endif /*PROBLEM_PARAM_H*/
00080