Constraint on the inner-approximated impact firction cone. More...

#include <impact_friction_cone.hpp>

Inheritance diagram for robotoc::ImpactFrictionCone:

Collaboration diagram for robotoc::ImpactFrictionCone:

Public Types
using	Vector5d = Eigen::Matrix< double, 5, 1 >

Public Member Functions
	ImpactFrictionCone (const Robot &robot)
	Constructor. More...

	ImpactFrictionCone ()
	Default constructor. More...

	~ImpactFrictionCone ()
	Destructor. More...

	ImpactFrictionCone (const ImpactFrictionCone &)=default
	Default copy constructor. More...

ImpactFrictionCone &	operator= (const ImpactFrictionCone &)=default
	Default copy operator. More...

	ImpactFrictionCone (ImpactFrictionCone &&) noexcept=default
	Default move constructor. More...

ImpactFrictionCone &	operator= (ImpactFrictionCone &&) noexcept=default
	Default move assign operator. More...

KinematicsLevel	kinematicsLevel () const override
	Checks the kinematics level of the constraint component. More...

void	allocateExtraData (ConstraintComponentData &data) const override
	Allocates extra data in ConstraintComponentData. More...

bool	isFeasible (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const override
	Checks whether the current solution s is feasible or not. More...

void	setSlack (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const override
	Sets the slack variables of each constraint components. More...

void	evalConstraint (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const override
	Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible. More...

void	evalDerivatives (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s, SplitKKTResidual &kkt_residual) const override
	Computes the derivatives of the priaml residual, i.e., the Jacobian of the inequality constraint, and add the product of the Jacobian and the dual variable to the KKT residual. This function is always called just after evalConstraint(). More...

void	condenseSlackAndDual (const ImpactStatus &impact_status, ConstraintComponentData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual) const override
	Condenses the slack and dual variables, i.e., factorizes the condensed Hessians and KKT residuals. This function is always called just after evalDerivatives(). More...

void	expandSlackAndDual (const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitDirection &d) const override
	Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables. More...

int	dimc () const override
	Returns the size of the constraint. More...

Public Member Functions inherited from robotoc::ImpactConstraintComponentBase
	ImpactConstraintComponentBase (const double barrier=1.0e-03, const double fraction_to_boundary_rule=0.995)
	Constructor. More...

virtual	~ImpactConstraintComponentBase ()
	Destructor. More...

	ImpactConstraintComponentBase (const ImpactConstraintComponentBase &)=default
	Default copy constructor. More...

ImpactConstraintComponentBase &	operator= (const ImpactConstraintComponentBase &)=default
	Default copy operator. More...

	ImpactConstraintComponentBase (ImpactConstraintComponentBase &&) noexcept=default
	Default move constructor. More...

ImpactConstraintComponentBase &	operator= (ImpactConstraintComponentBase &&) noexcept=default
	Default move assign operator. More...

virtual KinematicsLevel	kinematicsLevel () const =0
	Checks the kinematics level of the constraint component. More...

virtual void	allocateExtraData (ConstraintComponentData &data) const =0
	Allocates extra data in ConstraintComponentData. More...

virtual bool	isFeasible (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const =0
	Checks whether the current solution s is feasible or not. More...

virtual void	setSlack (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const =0
	Sets the slack variables of each constraint components. More...

virtual void	evalConstraint (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const =0
	Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible. More...

virtual void	evalDerivatives (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the derivatives of the priaml residual, i.e., the Jacobian of the inequality constraint, and add the product of the Jacobian and the dual variable to the KKT residual. This function is always called just after evalConstraint(). More...

virtual void	condenseSlackAndDual (const ImpactStatus &impact_status, ConstraintComponentData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual) const =0
	Condenses the slack and dual variables, i.e., factorizes the condensed Hessians and KKT residuals. This function is always called just after evalDerivatives(). More...

virtual void	expandSlackAndDual (const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitDirection &d) const =0
	Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables. More...

virtual int	dimc () const =0
	Returns the size of the constraint. More...

void	setSlackAndDualPositive (ConstraintComponentData &data) const
	Sets the slack and dual variables positive. More...

double	maxSlackStepSize (const ConstraintComponentData &data) const
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the direction of the slack variable. More...

double	maxDualStepSize (const ConstraintComponentData &data) const
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the direction of the dual variable. More...

virtual double	getBarrierParam () const final
	Returns the barrier parameter. More...

virtual double	getFractionToBoundaryRule () const final
	Returns the parameter of the fraction-to-boundary-rule. More...

virtual void	setBarrierParam (const double barrier_param) final
	Sets the barrier parameter. More...

virtual void	setFractionToBoundaryRule (const double fraction_to_boundary_rule) final
	Sets the parameter of the fraction-to-boundary-rule. More...

template<typename Derived >
std::shared_ptr< Derived >	as_shared_ptr ()
	Gets the shared ptr of this object as the specified type. If this fails in dynamic casting, throws an exception. More...

Static Public Member Functions
template<typename VectorType1 , typename VectorType2 >
static void	frictionConeResidual (const double mu, const Eigen::MatrixBase< VectorType1 > &f_world, const Eigen::Matrix3d &R_surface, const Eigen::MatrixBase< VectorType2 > &res)
	Computes the friction cone residual. More...

Static Public Member Functions inherited from robotoc::ImpactConstraintComponentBase
static void	updateSlack (ConstraintComponentData &data, const double step_size)
	Updates the slack variable according to the step size. More...

static void	updateDual (ConstraintComponentData &data, const double step_size)
	Updates the dual variable according to the step size. More...

Additional Inherited Members
Protected Member Functions inherited from robotoc::ImpactConstraintComponentBase
void	computeComplementarySlackness (ConstraintComponentData &data) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

void	computeComplementarySlackness (ConstraintComponentData &data, const int start, const int size) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

template<int Size>
void	computeComplementarySlackness (ConstraintComponentData &data, const int start) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

double	computeComplementarySlackness (const double slack, const double dual) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

template<typename VectorType >
double	logBarrier (const Eigen::MatrixBase< VectorType > &slack) const
	Computes the log barrier function of the slack variable. More...

Static Protected Member Functions inherited from robotoc::ImpactConstraintComponentBase
static void	computeCondensingCoeffcient (ConstraintComponentData &data)
	Computes the coefficient of the condensing. More...

static void	computeCondensingCoeffcient (ConstraintComponentData &data, const int start, const int size)
	Computes the coefficient of the condensing. More...

template<int Size>
static void	computeCondensingCoeffcient (ConstraintComponentData &data, const int start)
	Computes the coefficient of the condensing. More...

static double	computeCondensingCoeffcient (const double slack, const double dual, const double residual, const double cmpl)
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

static void	computeDualDirection (ConstraintComponentData &data)
	Computes the direction of the dual variable from slack, primal residual, complementarity slackness, and the direction of the slack. More...

static void	computeDualDirection (ConstraintComponentData &data, const int start, const int size)
	Computes the direction of the dual variable from slack, primal residual, complementarity slackness, and the direction of the slack. More...

template<int Size>
static void	computeDualDirection (ConstraintComponentData &data, const int start)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...

static double	computeDualDirection (const double slack, const double dual, const double dslack, const double cmpl)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...

Detailed Description

Constraint on the inner-approximated impact firction cone.

Member Typedef Documentation

◆ Vector5d

using robotoc::ImpactFrictionCone::Vector5d = Eigen::Matrix<double, 5, 1>

Constructor & Destructor Documentation

◆ ImpactFrictionCone() [1/4]

robotoc::ImpactFrictionCone::ImpactFrictionCone ( const Robot & robot )

Constructor.

Parameters

[in] robot Robot model.

◆ ImpactFrictionCone() [2/4]

robotoc::ImpactFrictionCone::ImpactFrictionCone ( )

Default constructor.

◆ ~ImpactFrictionCone()

robotoc::ImpactFrictionCone::~ImpactFrictionCone ( )

Destructor.

◆ ImpactFrictionCone() [3/4]

robotoc::ImpactFrictionCone::ImpactFrictionCone ( const ImpactFrictionCone & )

default

Default copy constructor.

◆ ImpactFrictionCone() [4/4]

robotoc::ImpactFrictionCone::ImpactFrictionCone ( ImpactFrictionCone && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ allocateExtraData()

void robotoc::ImpactFrictionCone::allocateExtraData ( ConstraintComponentData & data ) const

overridevirtual

Allocates extra data in ConstraintComponentData.

Parameters

[in] data Constraint component data.

Implements robotoc::ImpactConstraintComponentBase.

◆ condenseSlackAndDual()

void robotoc::ImpactFrictionCone::condenseSlackAndDual	(	const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)		const

overridevirtual

Condenses the slack and dual variables, i.e., factorizes the
condensed Hessians and KKT residuals. This function is always called just after evalDerivatives().

Parameters

[in]	impact_status	Impact status.
[in]	data	Constraints data.
[out]	kkt_matrix	Impact split KKT matrix. The condensed Hessians are added to this data.
[out]	kkt_residual	Impact split KKT residual. The condensed KKT residual are added to this data.

Implements robotoc::ImpactConstraintComponentBase.

◆ dimc()

int robotoc::ImpactFrictionCone::dimc ( ) const

overridevirtual

Returns the size of the constraint.

Returns: Size of the constraints.

Implements robotoc::ImpactConstraintComponentBase.

◆ evalConstraint()

void robotoc::ImpactFrictionCone::evalConstraint	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s
	)		const

overridevirtual

Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Constraints data.
[in]	s	Impact split solution.

Implements robotoc::ImpactConstraintComponentBase.

◆ evalDerivatives()

void robotoc::ImpactFrictionCone::evalDerivatives	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

overridevirtual

Computes the derivatives of the priaml residual, i.e., the Jacobian of the inequality constraint, and add the product of the Jacobian and the dual variable to the KKT residual. This function is always called just after evalConstraint().

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Constraint data.
[in]	s	Impact split solution.
[out]	kkt_residual	Impact split KKT residual.

Implements robotoc::ImpactConstraintComponentBase.

◆ expandSlackAndDual()

void robotoc::ImpactFrictionCone::expandSlackAndDual	(	const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitDirection &	d
	)		const

overridevirtual

Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables.

Parameters

[in]	impact_status	Impact status.
[in,out]	data	Constraints data.
[in]	d	Impact split direction.

Implements robotoc::ImpactConstraintComponentBase.

◆ frictionConeResidual()

template<typename VectorType1 , typename VectorType2 >

static void robotoc::ImpactFrictionCone::frictionConeResidual	(	const double	mu,
		const Eigen::MatrixBase< VectorType1 > &	f_world,
		const Eigen::Matrix3d &	R_surface,
		const Eigen::MatrixBase< VectorType2 > &	res
	)

inlinestatic

Computes the friction cone residual.

Parameters

[in]	mu	Friction coefficient. Must be positive.
[in]	f_world	Contact force expressed in the world frame. Size must be 3.
[in]	R_surface	Rotation matrix of the contact surface.
[out]	res	Friction cone residual. Size must be 5.

◆ isFeasible()

bool robotoc::ImpactFrictionCone::isFeasible	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s
	)		const

overridevirtual

Checks whether the current solution s is feasible or not.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Constraint data.
[in]	s	Impact split solution.

Returns: true if s is feasible. false if not.

Implements robotoc::ImpactConstraintComponentBase.

◆ kinematicsLevel()

KinematicsLevel robotoc::ImpactFrictionCone::kinematicsLevel ( ) const

overridevirtual

Checks the kinematics level of the constraint component.

Returns: Kinematics level of the constraint component.

Implements robotoc::ImpactConstraintComponentBase.

◆ operator=() [1/2]

ImpactFrictionCone & robotoc::ImpactFrictionCone::operator= ( const ImpactFrictionCone & )

default

Default copy operator.

◆ operator=() [2/2]

ImpactFrictionCone & robotoc::ImpactFrictionCone::operator= ( ImpactFrictionCone && )

defaultnoexcept

Default move assign operator.

◆ setSlack()

void robotoc::ImpactFrictionCone::setSlack	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s
	)		const

overridevirtual

Sets the slack variables of each constraint components.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[out]	data	Constraint data.
[in]	s	Impact split solution.

Implements robotoc::ImpactConstraintComponentBase.

The documentation for this class was generated from the following file:

/github/workspace/include/robotoc/constraints/impact_friction_cone.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Vector5d

Constructor & Destructor Documentation

◆ ImpactFrictionCone() [1/4]

◆ ImpactFrictionCone() [2/4]

◆ ~ImpactFrictionCone()

◆ ImpactFrictionCone() [3/4]

◆ ImpactFrictionCone() [4/4]

Member Function Documentation

◆ allocateExtraData()

◆ condenseSlackAndDual()

◆ dimc()

◆ evalConstraint()

◆ evalDerivatives()

◆ expandSlackAndDual()

◆ frictionConeResidual()

◆ isFeasible()

◆ kinematicsLevel()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setSlack()