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

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00001 
00008 #ifndef STATE_HANDLING_H
00009 #define STATE_HANDLING_H
00010 
00011 /****************************************
00012  * INCLUDES
00013  ****************************************/
00014 #include "smpc_common.h"
00015 #include "problem_param.h"
00016 
00017 
00018 /****************************************
00019  * PROTOTYPES 
00020  ****************************************/
00023 
00027 namespace state_handling
00028 {
00029     void tilde_to_bar (const double, const double, double *);
00030     void bar_to_tilde (const double, const double, double *);
00031     void tilde_to_orig (const double, double *);
00032     void orig_to_tilde (const double, double *);
00033 
00034     void get_state_tilde (const problem_parameters&, const double *, const int, double *);
00035     void get_state (const problem_parameters&, const double *, const int, double *);
00036 
00037     void get_controls (const int, const double *, const int ind, double *);
00038 }
00040 #endif /*STATE_HANDLING_H*/