Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

bound	Defines simple bounds associated with variables
chol_solve_as	Solves KKT system using Cholesky decomposition
chol_solve_ip	Solves KKT system using Cholesky decomposition
smpc::control	A container for a control vector
footstep	Defines a footstep
IPM	Inverted pendulum model
matrix_E	Implements multiplication of matrix E and E' by a vector
matrix_ecL_as	Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
matrix_ecL_ip	Initializes lower diagonal matrix L and performs backward and forward substitutions using this matrix
problem_parameters	A set of problem parameters
qp_as	Solve a quadratic program with a specific structure. qp_as = Quadratic Programming / Active Set
qp_ip	Solve a quadratic program with a specific structure. qp_ip = Quadratic Programming / Interior-point method
qp_solver	Solve a quadratic program with a specific structure
RectangularConstraint_ZMP	Defines rectangular constraints (of the form D*z <= d) for the ZMP
smpc_parameters	A container for parameters of the SMPC solver
smpc::solver	API of the sparse MPC solver
smpc::state	An abstract class representing state
smpc::state_orig	A container for a state in the original form:
state_parameters
smpc::state_tilde	A container for a state in tilde form (after variable substitution):
WMG	Defines the parameters of the Walking Pattern Generator