Newton direction of the solution to the optimal control problem split into a time stage. More...

#include <split_direction.hpp>

Public Member Functions
	SplitDirection (const Robot &robot)
	Construct a split solution. More...

	SplitDirection ()
	Default constructor. More...

	~SplitDirection ()=default
	Default destructor. More...

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

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

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

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

void	setContactDimension (const int dimf)
	Sets contact status, i.e., set dimension of the contact forces. More...

void	setSwitchingConstraintDimension (const int dims)
	Sets the dimension of the switching constraint. More...

Eigen::VectorBlock< Eigen::VectorXd >	dq ()
	Newton direction of SplitSolution::q. Size is Robot::dimv(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dq () const
	const version of SplitDirection::dq(). More...

Eigen::VectorBlock< Eigen::VectorXd >	dv ()
	Newton direction of SplitSolution::gmm. Size is Robot::dimv(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dv () const
	const version of SplitDirection::dv(). More...

Eigen::VectorBlock< Eigen::VectorXd >	daf ()
	Stack of Newton direction of SplitSolution::a and SplitSolution::f. Size is Robot::dimv() + ContactStatus::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	daf () const
	const version of SplitDirection::daf(). More...

Eigen::VectorBlock< Eigen::VectorXd >	da ()
	Newton direction of SplitSolution::a. Size is Robot::dimv(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	da () const
	const version of SplitDirection::da(). More...

Eigen::VectorBlock< Eigen::VectorXd >	ddvf ()
	Stack of Newton direction of SplitSolution::dv and SplitSolution::f. Size is Robot::dimv() + ContactStatus::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	ddvf () const
	const version of SplitDirection::ddvf(). More...

Eigen::VectorBlock< Eigen::VectorXd >	ddv ()
	Newton direction of SplitSolution::dv. Size is Robot::dimv(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	ddv () const
	const version of SplitDirection::ddv(). More...

Eigen::VectorBlock< Eigen::VectorXd >	df ()
	Newton direction of SplitSolution::f_stack(). Size is ContactStatus::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	df () const
	const version of SplitDirection::df(). More...

Eigen::VectorBlock< Eigen::VectorXd >	dlmd ()
	Newton direction of SplitSolution::lmd. Size is Robot::dimv(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dlmd () const
	const version of SplitDirection::dlmd(). More...

Eigen::VectorBlock< Eigen::VectorXd >	dgmm ()
	Newton direction of SplitSolution::gmm. Size is Robot::dimv(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dgmm () const
	const version of SplitDirection::dgmm(). More...

Eigen::VectorBlock< Eigen::VectorXd >	dbetamu ()
	Stack of the Newton direction of SplitSolution::beta and SplitSolution::mu_stack(). Size is Robot::dimv() + SplitSolution::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dbetamu () const
	const version of SplitDirection::dbetamu(). More...

Eigen::VectorBlock< Eigen::VectorXd >	dbeta ()
	Newton direction of SplitSolution::beta. Size is Robot::dimv(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dbeta () const
	const version of SplitDirection::dbeta(). More...

Eigen::VectorBlock< Eigen::VectorXd >	dmu ()
	Newton direction of SplitSolution::mu_stack(). Size is SplitSolution::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dmu () const
	const version of SplitDirection::dmu(). More...

Eigen::VectorBlock< Eigen::VectorXd >	dxi ()
	Newton direction of SplitSolution::xi_stack(). Size is SplitSolution::dims(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	dxi () const
	const version of SplitDirection::dxi(). More...

void	setZero ()
	Set the all directions zero. More...

int	dimf () const
	Returns the dimension of the contact. More...

int	dims () const
	Returns the dimension of the switching constraint. More...

bool	isDimensionConsistent () const
	Checks dimensional consistency of each component. More...

bool	isApprox (const SplitDirection &other) const
	Return true if two SplitDirection have the same values and false if not. More...

void	setRandom ()
	Sets each component vector by random value based on the current contact status. More...

void	setRandom (const ContactStatus &contact_status)
	Sets each component vector by random value. Contact status is reset. More...

void	setRandom (const ImpactStatus &impact_status)
	Sets each component vector by random value. Impact status is reset. More...

void	setRandom (const ContactStatus &contact_status, const ImpactStatus &impact_status)
	Sets each component vector by random value. Contact status and impact status are reset. More...

void	disp (std::ostream &os) const
	Displays the split direction onto a ostream. More...

Static Public Member Functions
static SplitDirection	Random (const Robot &robot)
	Generates split direction filled randomly. More...

static SplitDirection	Random (const Robot &robot, const ContactStatus &contact_status)
	Generates split direction filled randomly. More...

static SplitDirection	Random (const Robot &robot, const ImpactStatus &impact_status)
	Generates split direction filled randomly. More...

static SplitDirection	Random (const Robot &robot, const ContactStatus &contact_status, const ImpactStatus &impact_status)
	Generates split direction filled randomly. More...

Public Attributes
Eigen::VectorXd	dx
	Stack of the Newton directions of SplitSolution::q and SplitSolution::v. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	du
	Newton direction of SplitSolution::u. Size is Robot::dimu(). More...

Eigen::VectorXd	dlmdgmm
	Stack of the Newton direction of SplitSolution::lmd and SplitSolution::gmm. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	dnu_passive
	Newton direction of SplitSolution::nu_passive. Size is Robot::dim_passive(). More...

double	dts
	Newton direction of the switching time. More...

double	dts_next
	Newton direction of the next switching time. More...

Friends
std::ostream &	operator<< (std::ostream &os, const SplitDirection &d)

Detailed Description

Newton direction of the solution to the optimal control problem split into a time stage.

Constructor & Destructor Documentation

◆ SplitDirection() [1/4]

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

Construct a split solution.

Parameters

[in] robot Robot model.

◆ SplitDirection() [2/4]

robotoc::SplitDirection::SplitDirection ( )

Default constructor.

◆ ~SplitDirection()

robotoc::SplitDirection::~SplitDirection ( )

default

Default destructor.

◆ SplitDirection() [3/4]

robotoc::SplitDirection::SplitDirection ( const SplitDirection & )

default

Default copy constructor.

◆ SplitDirection() [4/4]

robotoc::SplitDirection::SplitDirection ( SplitDirection && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ da() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::da ( )

inline

Newton direction of SplitSolution::a. Size is Robot::dimv().

Returns: Reference to the Newton direction.

◆ da() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::da ( ) const

inline

const version of SplitDirection::da().

◆ daf() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::daf ( )

inline

Stack of Newton direction of SplitSolution::a and SplitSolution::f. Size is Robot::dimv() + ContactStatus::dimf().

Returns: Reference to the Newton direction.

◆ daf() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::daf ( ) const

inline

const version of SplitDirection::daf().

◆ dbeta() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dbeta ( )

inline

Newton direction of SplitSolution::beta. Size is Robot::dimv().

Returns: Reference to the Newton direction.

◆ dbeta() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dbeta ( ) const

inline

const version of SplitDirection::dbeta().

◆ dbetamu() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dbetamu ( )

inline

Stack of the Newton direction of SplitSolution::beta and SplitSolution::mu_stack(). Size is Robot::dimv() + SplitSolution::dimf().

Returns: Reference to the Newton direction.

◆ dbetamu() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dbetamu ( ) const

inline

const version of SplitDirection::dbetamu().

◆ ddv() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::ddv ( )

inline

Newton direction of SplitSolution::dv. Size is Robot::dimv().

Returns: Reference to the Newton direction.

◆ ddv() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::ddv ( ) const

inline

const version of SplitDirection::ddv().

◆ ddvf() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::ddvf ( )

inline

Stack of Newton direction of SplitSolution::dv and SplitSolution::f. Size is Robot::dimv() + ContactStatus::dimf().

Returns: Reference to the Newton direction.

◆ ddvf() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::ddvf ( ) const

inline

const version of SplitDirection::ddvf().

◆ df() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::df ( )

inline

Newton direction of SplitSolution::f_stack(). Size is ContactStatus::dimf().

Returns: Reference to the Newton direction.

◆ df() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::df ( ) const

inline

const version of SplitDirection::df().

◆ dgmm() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dgmm ( )

inline

Newton direction of SplitSolution::gmm. Size is Robot::dimv().

Returns: Reference to the Newton direction.

◆ dgmm() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dgmm ( ) const

inline

const version of SplitDirection::dgmm().

◆ dimf()

int robotoc::SplitDirection::dimf ( ) const

inline

Returns the dimension of the contact.

Returns: Dimension of the contact.

◆ dims()

int robotoc::SplitDirection::dims ( ) const

inline

Returns the dimension of the switching constraint.

Returns: Dimension of the switching constraint.

◆ disp()

void robotoc::SplitDirection::disp ( std::ostream & os ) const

Displays the split direction onto a ostream.

◆ dlmd() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dlmd ( )

inline

Newton direction of SplitSolution::lmd. Size is Robot::dimv().

Returns: Reference to the Newton direction.

◆ dlmd() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dlmd ( ) const

inline

const version of SplitDirection::dlmd().

◆ dmu() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dmu ( )

inline

Newton direction of SplitSolution::mu_stack(). Size is SplitSolution::dimf().

Returns: Reference to the Newton direction.

◆ dmu() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dmu ( ) const

inline

const version of SplitDirection::dmu().

◆ dq() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dq ( )

inline

Newton direction of SplitSolution::q. Size is Robot::dimv().

Returns: Reference to the Newton direction.

◆ dq() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dq ( ) const

inline

const version of SplitDirection::dq().

◆ dv() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dv ( )

inline

Newton direction of SplitSolution::gmm. Size is Robot::dimv().

Returns: Reference to the Newton direction.

◆ dv() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dv ( ) const

inline

const version of SplitDirection::dv().

◆ dxi() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitDirection::dxi ( )

inline

Newton direction of SplitSolution::xi_stack(). Size is SplitSolution::dims().

Returns: Reference to the Newton direction.

◆ dxi() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitDirection::dxi ( ) const

inline

const version of SplitDirection::dxi().

◆ isApprox()

bool robotoc::SplitDirection::isApprox ( const SplitDirection & other ) const

Return true if two SplitDirection have the same values and false if not.

Parameters

[in] other Split direction that is compared with this object.

◆ isDimensionConsistent()

bool robotoc::SplitDirection::isDimensionConsistent ( ) const

Checks dimensional consistency of each component.

Returns: true if the dimension is consistent. false if not.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

SplitDirection & robotoc::SplitDirection::operator= ( SplitDirection && )

defaultnoexcept

Default move assign operator.

◆ Random() [1/4]

static SplitDirection robotoc::SplitDirection::Random ( const Robot & robot )

static

Generates split direction filled randomly.

Returns: Split direction filled randomly.

Parameters

[in] robot Robot model. Must be initialized by URDF or XML.

◆ Random() [2/4]

static SplitDirection robotoc::SplitDirection::Random	(	const Robot &	robot,
		const ContactStatus &	contact_status
	)

static

Generates split direction filled randomly.

Returns: Split direction filled randomly.

Parameters

[in]	robot	Robot model. Must be initialized by URDF or XML.
[in]	contact_status	Contact status.

◆ Random() [3/4]

static SplitDirection robotoc::SplitDirection::Random	(	const Robot &	robot,
		const ContactStatus &	contact_status,
		const ImpactStatus &	impact_status
	)

static

Generates split direction filled randomly.

Returns: Split direction filled randomly.

Parameters

[in]	robot	Robot model. Must be initialized by URDF or XML.
[in]	contact_status	Contact status.
[in]	impact_status	Impact status.

◆ Random() [4/4]

static SplitDirection robotoc::SplitDirection::Random	(	const Robot &	robot,
		const ImpactStatus &	impact_status
	)

static

Generates split direction filled randomly.

Returns: Split direction filled randomly.

Parameters

[in]	robot	Robot model. Must be initialized by URDF or XML.
[in]	impact_status	Impact status.

◆ setContactDimension()

void robotoc::SplitDirection::setContactDimension ( const int dimf )

inline

Sets contact status, i.e., set dimension of the contact forces.

Parameters

[in] dimf The dimension of the contact. Must be non-negative.

◆ setRandom() [1/4]

void robotoc::SplitDirection::setRandom ( )

Sets each component vector by random value based on the current contact status.

◆ setRandom() [2/4]

void robotoc::SplitDirection::setRandom ( const ContactStatus & contact_status )

Sets each component vector by random value. Contact status is reset.

Parameters

[in] contact_status Contact status.

◆ setRandom() [3/4]

void robotoc::SplitDirection::setRandom	(	const ContactStatus &	contact_status,
		const ImpactStatus &	impact_status
	)

Sets each component vector by random value. Contact status and impact status are reset.

Parameters

[in]	contact_status	Contact status.
[in]	impact_status	Impact status.

◆ setRandom() [4/4]

void robotoc::SplitDirection::setRandom ( const ImpactStatus & impact_status )

Sets each component vector by random value. Impact status is reset.

Parameters

[in] impact_status Impact status.

◆ setSwitchingConstraintDimension()

void robotoc::SplitDirection::setSwitchingConstraintDimension ( const int dims )

inline

Sets the dimension of the switching constraint.

Parameters

[in] dims The dimension of the switching constraint. Must be non-negative.

◆ setZero()

void robotoc::SplitDirection::setZero ( )

inline

Set the all directions zero.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const SplitDirection &	d
	)

friend

Member Data Documentation

◆ dlmdgmm

Eigen::VectorXd robotoc::SplitDirection::dlmdgmm

Stack of the Newton direction of SplitSolution::lmd and SplitSolution::gmm. Size is 2 * Robot::dimv().

◆ dnu_passive

Eigen::VectorXd robotoc::SplitDirection::dnu_passive

Newton direction of SplitSolution::nu_passive. Size is Robot::dim_passive().

◆ dts

double robotoc::SplitDirection::dts

Newton direction of the switching time.

◆ dts_next

double robotoc::SplitDirection::dts_next

Newton direction of the next switching time.

◆ du

Eigen::VectorXd robotoc::SplitDirection::du

Newton direction of SplitSolution::u. Size is Robot::dimu().

◆ dx

Eigen::VectorXd robotoc::SplitDirection::dx

Stack of the Newton directions of SplitSolution::q and SplitSolution::v. Size is 2 * Robot::dimv().

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

/github/workspace/include/robotoc/core/split_direction.hpp
/github/workspace/include/robotoc/core/split_direction.hxx

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SplitDirection() [1/4]

◆ SplitDirection() [2/4]

◆ ~SplitDirection()

◆ SplitDirection() [3/4]

◆ SplitDirection() [4/4]

Member Function Documentation

◆ da() [1/2]

◆ da() [2/2]

◆ daf() [1/2]

◆ daf() [2/2]

◆ dbeta() [1/2]

◆ dbeta() [2/2]

◆ dbetamu() [1/2]

◆ dbetamu() [2/2]

◆ ddv() [1/2]

◆ ddv() [2/2]

◆ ddvf() [1/2]

◆ ddvf() [2/2]

◆ df() [1/2]

◆ df() [2/2]

◆ dgmm() [1/2]

◆ dgmm() [2/2]

◆ dimf()

◆ dims()

◆ disp()

◆ dlmd() [1/2]

◆ dlmd() [2/2]

◆ dmu() [1/2]

◆ dmu() [2/2]

◆ dq() [1/2]

◆ dq() [2/2]

◆ dv() [1/2]

◆ dv() [2/2]

◆ dxi() [1/2]

◆ dxi() [2/2]

◆ isApprox()

◆ isDimensionConsistent()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Random() [1/4]

◆ Random() [2/4]

◆ Random() [3/4]

◆ Random() [4/4]

◆ setContactDimension()

◆ setRandom() [1/4]

◆ setRandom() [2/4]

◆ setRandom() [3/4]

◆ setRandom() [4/4]

◆ setSwitchingConstraintDimension()

◆ setZero()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dlmdgmm

◆ dnu_passive

◆ dts

◆ dts_next

◆ du

◆ dx