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A sparse MPC solver for walking motion generation (old version).
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Implements multiplication of matrix E and E' by a vector. More...
#include <matrix_E.h>
Public Member Functions | |
| matrix_E () | |
| ~matrix_E () | |
| void | form_Ex (const problem_parameters &, const double *, double *) |
| Forms E*x. | |
| void | form_ETx (const problem_parameters &, const double *, double *) |
| Forms E' * x. | |
Implements multiplication of matrix E and E' by a vector.
Definition at line 30 of file matrix_E.h.
| matrix_E::matrix_E | ( | ) | [inline] |
Definition at line 34 of file matrix_E.h.
| matrix_E::~matrix_E | ( | ) | [inline] |
Definition at line 35 of file matrix_E.h.
| void matrix_E::form_ETx | ( | const problem_parameters & | ppar, |
| const double * | x, | ||
| double * | result | ||
| ) |
Forms E' * x.
| [in] | ppar | parameters. |
| [in] | x | vector x (SMPC_NUM_STATE_VAR * N). |
| [out] | result | vector E' * nu (SMPC_NUM_VAR * N) |
Definition at line 86 of file matrix_E.cpp.
| void matrix_E::form_Ex | ( | const problem_parameters & | ppar, |
| const double * | x, | ||
| double * | result | ||
| ) |
Forms E*x.
| [in] | ppar | parameters. |
| [in] | x | vector x (SMPC_NUM_VAR * N). |
| [out] | result | vector E*x (SMPC_NUM_STATE_VAR * N) |
Definition at line 28 of file matrix_E.cpp.
1.8.0