mpctool: include/mpc_inc.h Source File

mpctool
00001 #ifndef MPC_INC_H
00002 #define MPC_INC_H
00003 
00004 #include "mpc_base.h"
00005 #include "mtx_ops.h"
00006 
00007 /* Quadratic Programming online solver using Fast gradients.
00008  * Most of these functions are intended for internal use.
00009  */
00010 
00011 extern void inc_ctl_solve_problem(struct mpc_ctl *ctl, const real_t x[]);
00012 
00013 extern void inc_ctl_form_qp(struct mpc_ctl *ctl, const real_t x[]);
00014 
00015 extern void inc_ctl_warmstart(struct mpc_ctl *ctl);
00016 
00017 extern void inc_fgm_minimize_qp_iteration(const struct mpc_fgm *fgm,
00018                 real_t u[], real_t u_old[], real_t w[], const real_t gradoL[]);
00019 
00020 extern void inc_fgm_minimize_qp(const struct mpc_fgm *fgm, real_t u[]);
00021 
00022 extern void inc_fgm_compute_grad_over_L(const struct mpc_fgm *fgm,
00023                 real_t gradoL[], const real_t w[]);
00024 
00025 extern void inc_compute_gxoL(struct mpc_fgm *fgm, const real_t x[]);
00026 
00027 extern void mpc_warmstart_vector(struct mpc_fgm *fgm, real_t outvec[], 
00028     const real_t vec[], const uint32_t unit_size);
00029 
00030 #endif /* MPC_INC_H */