The KKT matrix split into a time stage. More...

#include <split_kkt_matrix.hpp>

Public Member Functions
	SplitKKTMatrix (const Robot &robot)
	Construct a split KKT matrix. More...

	SplitKKTMatrix ()
	Default constructor. More...

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

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

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

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

SplitKKTMatrix &	operator= (SplitKKTMatrix &&) 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::Block< Eigen::MatrixXd >	Fqq ()
	Jacobian of the state equation (w.r.t. q) w.r.t. q. More...

const Eigen::Block< const Eigen::MatrixXd >	Fqq () const
	const version of SplitKKTMatrix::Fqq(). More...

Eigen::Block< Eigen::MatrixXd >	Fqv ()
	Jacobian of the state equation (w.r.t. q) w.r.t. v. More...

const Eigen::Block< const Eigen::MatrixXd >	Fqv () const
	const version of SplitKKTMatrix::Fqv(). More...

Eigen::Block< Eigen::MatrixXd >	Fvq ()
	Jacobian of the state equation (w.r.t. v) w.r.t. q. More...

const Eigen::Block< const Eigen::MatrixXd >	Fvq () const
	const version of SplitKKTMatrix::Fvq(). More...

Eigen::Block< Eigen::MatrixXd >	Fvv ()
	Jacobian of the state equation (w.r.t. v) to v. More...

const Eigen::Block< const Eigen::MatrixXd >	Fvv () const
	const version of SplitKKTMatrix::Fvv(). More...

Eigen::VectorBlock< Eigen::VectorXd >	fq ()
	Derivative of the discrete-time state equation w.r.t. the configuration q w.r.t. the length of the time interval. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	fq () const
	const version of SplitKKTMatrix::fq(). More...

Eigen::VectorBlock< Eigen::VectorXd >	fv ()
	Derivative of the discrete-time state equation w.r.t. the velocity v w.r.t. the length of the time interval. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	fv () const
	const version of SplitKKTMatrix::fv(). More...

Eigen::Block< Eigen::MatrixXd >	Phix ()
	Jacobian of the swithcing constraint w.r.t. x. More...

const Eigen::Block< const Eigen::MatrixXd >	Phix () const
	const version of SwitchingConstraintJacobian::Phix(). More...

Eigen::Block< Eigen::MatrixXd >	Phiq ()
	Jacobian of the swithcing constraint w.r.t. q. More...

const Eigen::Block< const Eigen::MatrixXd >	Phiq () const
	const version of SwitchingConstraintJacobian::Phiq(). More...

Eigen::Block< Eigen::MatrixXd >	Phiv ()
	Jacobian of the swithcing constraint w.r.t. v. More...

const Eigen::Block< const Eigen::MatrixXd >	Phiv () const
	const version of SwitchingConstraintJacobian::Phiv(). More...

Eigen::Block< Eigen::MatrixXd >	Phia ()
	Jacobian of the swithcing constraint w.r.t. a. More...

const Eigen::Block< const Eigen::MatrixXd >	Phia () const
	const version of SwitchingConstraintJacobian::Phia(). More...

Eigen::Block< Eigen::MatrixXd >	Phiu ()
	Jacobian of the swithcing constraint w.r.t. u. More...

const Eigen::Block< const Eigen::MatrixXd >	Phiu () const
	const version of SwitchingConstraintJacobian::Phiu(). More...

Eigen::VectorBlock< Eigen::VectorXd >	Phit ()
	Jacobian of the swithcing constraint w.r.t. the switching time. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	Phit () const
	const version of SwitchingConstraintJacobian::Phit(). More...

Eigen::Block< Eigen::MatrixXd >	Qqq ()
	Hessian w.r.t. the configuration q and configuration q. More...

const Eigen::Block< const Eigen::MatrixXd >	Qqq () const
	const version of SplitKKTMatrix::Qqq(). More...

Eigen::Block< Eigen::MatrixXd >	Qqv ()
	Hessian w.r.t. the configuration q and joint velocity v. More...

const Eigen::Block< const Eigen::MatrixXd >	Qqv () const
	const version of SplitKKTMatrix::Qqv(). More...

Eigen::Block< Eigen::MatrixXd >	Qvq ()
	Hessian w.r.t. the joint velocity v and configuration q. More...

const Eigen::Block< const Eigen::MatrixXd >	Qvq () const
	const version of SplitKKTMatrix::Qvq(). More...

Eigen::Block< Eigen::MatrixXd >	Qvv ()
	Hessian w.r.t. the joint velocity v and joint velocity v. More...

const Eigen::Block< const Eigen::MatrixXd >	Qvv () const
	const version of SplitKKTMatrix::Qvv(). More...

Eigen::Block< Eigen::MatrixXd >	Qqu ()
	Hessian of the Lagrangian with respect to the configuration q and control input torques u. More...

const Eigen::Block< const Eigen::MatrixXd >	Qqu () const
	const version of SplitKKTMatrix::Qqu(). More...

Eigen::Block< Eigen::MatrixXd >	Qvu ()
	Hessian of the Lagrangian with respect to the velocity v and control input torques u. More...

const Eigen::Block< const Eigen::MatrixXd >	Qvu () const
	const version of SplitKKTMatrix::Qvu(). More...

Eigen::Block< Eigen::MatrixXd >	Qff ()
	Hessian of the Lagrangian with respect to the contact forces f. More...

const Eigen::Block< const Eigen::MatrixXd >	Qff () const
	const version of SplitKKTMatrix::Qff(). More...

Eigen::Block< Eigen::MatrixXd >	Qqf ()
	Hessian of the Lagrangian with respect to the configuration and contact forces. More...

const Eigen::Block< const Eigen::MatrixXd >	Qqf () const
	const version of SplitKKTMatrix::Qqf(). More...

Eigen::VectorBlock< Eigen::VectorXd >	hq ()
	Derivative of the Hamiltonian w.r.t. the configuration q. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	hq () const
	const version of SplitKKTMatrix::hq(). More...

Eigen::VectorBlock< Eigen::VectorXd >	hv ()
	Derivative of the Hamiltonian w.r.t. the velocity v. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	hv () const
	const version of SplitKKTMatrix::hv(). More...

Eigen::VectorBlock< Eigen::VectorXd >	hf ()
	Derivative of the Hamiltonian w.r.t. the stack of the contact forces f. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	hf () const
	const version of SplitKKTMatrix::hf(). More...

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

int	dimf () const
	Returns the dimension of the stack of contact forces at the current contact status. More...

int	dims () const
	Returns the dimension of the stack of the contact forces at the current contact status. More...

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

bool	isApprox (const SplitKKTMatrix &other) const
	Checks the equivalence of two SplitKKTMatrix. More...

bool	hasNaN () const
	Checks this has at least one NaN. More...

void	setRandom ()
	Set by random value based on the current contact status. More...

void	setRandom (const ContactStatus &contact_status)
	Set by random value. Contact status is reset. More...

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

Static Public Member Functions
static SplitKKTMatrix	Random (const Robot &robot)
	Generates split KKT matrix filled randomly. More...

static SplitKKTMatrix	Random (const Robot &robot, const ContactStatus &contact_status)
	Generates split KKT matrix filled randomly. More...

Public Attributes
Eigen::MatrixXd	Fxx
	Jacobian of the state equation w.r.t. the state x. More...

Eigen::MatrixXd	Fvu
	Jacobian of the state equation (w.r.t. v) w.r.t. u. More...

Eigen::VectorXd	fx
	Derivative of the discrete time state equation w.r.t. the length of the time interval. More...

Eigen::MatrixXd	Qxx
	Hessian w.r.t. to the state x and state x. More...

Eigen::MatrixXd	Qaa
	Hessian w.r.t. the acceleration a and acceleration a. More...

Eigen::MatrixXd	Qdvdv
	Hessian w.r.t. the impact change in the velocity ddv. More...

Eigen::MatrixXd	Qxu
	Hessian w.r.t. the state x and the control input torques u. More...

Eigen::MatrixXd	Quu
	Hessian w.r.t. the control input torques u and the control input torques u. More...

double	Qtt
	Hessian of the Lagrangian w.r.t. the switching time. More...

double	Qtt_prev
	Hessian of the Lagrangian w.r.t. the previoius switching time. More...

Eigen::VectorXd	hx
	Derivative of the Hamiltonian w.r.t. the state. More...

Eigen::VectorXd	hu
	Derivative of the Hamiltonian w.r.t. the control input. More...

Eigen::VectorXd	ha
	Derivative of the Hamiltonian w.r.t. the acceleration. More...

Friends
std::ostream &	operator<< (std::ostream &os, const SplitKKTMatrix &kkt_matrix)

Detailed Description

The KKT matrix split into a time stage.

Constructor & Destructor Documentation

◆ SplitKKTMatrix() [1/4]

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

Construct a split KKT matrix.

Parameters

[in] robot Robot model.

◆ SplitKKTMatrix() [2/4]

robotoc::SplitKKTMatrix::SplitKKTMatrix ( )

Default constructor.

◆ ~SplitKKTMatrix()

robotoc::SplitKKTMatrix::~SplitKKTMatrix ( )

default

Default destructor.

◆ SplitKKTMatrix() [3/4]

robotoc::SplitKKTMatrix::SplitKKTMatrix ( const SplitKKTMatrix & )

default

Default copy constructor.

◆ SplitKKTMatrix() [4/4]

robotoc::SplitKKTMatrix::SplitKKTMatrix ( SplitKKTMatrix && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ dimf()

int robotoc::SplitKKTMatrix::dimf ( ) const

inline

Returns the dimension of the stack of contact forces at the current contact status.

Returns: Dimension of the stack of contact forces.

◆ dims()

int robotoc::SplitKKTMatrix::dims ( ) const

inline

Returns the dimension of the stack of the contact forces at the current contact status.

Returns: Dimension of the stack of the contact forces.

◆ disp()

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

Displays the split KKT matrix onto a ostream.

◆ fq() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTMatrix::fq ( )

inline

Derivative of the discrete-time state equation w.r.t. the configuration q w.r.t. the length of the time interval.

Returns: Reference to the vector. Size is Robot::dimv().

◆ fq() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTMatrix::fq ( ) const

inline

const version of SplitKKTMatrix::fq().

◆ Fqq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fqq ( )

inline

Jacobian of the state equation (w.r.t. q) w.r.t. q.

Returns: Reference to the block of the Jacobian of the constraints. Size is Robot::dimv() x Robot::dimv().

◆ Fqq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fqq ( ) const

inline

const version of SplitKKTMatrix::Fqq().

◆ Fqv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fqv ( )

inline

Jacobian of the state equation (w.r.t. q) w.r.t. v.

Returns: Reference to the block of the Jacobian of the constraints. Size is Robot::dimv() x Robot::dimv().

◆ Fqv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fqv ( ) const

inline

const version of SplitKKTMatrix::Fqv().

◆ fv() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTMatrix::fv ( )

inline

Derivative of the discrete-time state equation w.r.t. the velocity v w.r.t. the length of the time interval.

Returns: Reference to the vector. Size is Robot::dimv().

◆ fv() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTMatrix::fv ( ) const

inline

const version of SplitKKTMatrix::fv().

◆ Fvq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fvq ( )

inline

Jacobian of the state equation (w.r.t. v) w.r.t. q.

Returns: Reference to the block of the Jacobian of the constraints. Size is Robot::dimv() x Robot::dimv().

◆ Fvq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fvq ( ) const

inline

const version of SplitKKTMatrix::Fvq().

◆ Fvv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fvv ( )

inline

Jacobian of the state equation (w.r.t. v) to v.

Returns: Reference to the block of the Jacobian of the constraints. Size is Robot::dimv() x Robot::dimv().

◆ Fvv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Fvv ( ) const

inline

const version of SplitKKTMatrix::Fvv().

◆ hasNaN()

bool robotoc::SplitKKTMatrix::hasNaN ( ) const

Checks this has at least one NaN.

Returns: true if this has at least one NaN. false otherwise.

◆ hf() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTMatrix::hf ( )

inline

Derivative of the Hamiltonian w.r.t. the stack of the contact forces f.

Returns: Reference to the derivative w.r.t.f. Size is SplitKKTMatrix::dimf().

◆ hf() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTMatrix::hf ( ) const

inline

const version of SplitKKTMatrix::hf().

◆ hq() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTMatrix::hq ( )

inline

Derivative of the Hamiltonian w.r.t. the configuration q.

Returns: Reference to the vector. Size is Robot::dimv().

◆ hq() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTMatrix::hq ( ) const

inline

const version of SplitKKTMatrix::hq().

◆ hv() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTMatrix::hv ( )

inline

Derivative of the Hamiltonian w.r.t. the velocity v.

Returns: Reference to the vector. Size is Robot::dimv().

◆ hv() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTMatrix::hv ( ) const

inline

const version of SplitKKTMatrix::hv().

◆ isApprox()

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

Checks the equivalence of two SplitKKTMatrix.

Parameters

[in] other Other object.

Returns: true if this and other is same. false otherwise.

◆ isDimensionConsistent()

bool robotoc::SplitKKTMatrix::isDimensionConsistent ( ) const

Checks dimensional consistency of each component.

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

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

SplitKKTMatrix & robotoc::SplitKKTMatrix::operator= ( SplitKKTMatrix && )

defaultnoexcept

Default move assign operator.

◆ Phia() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phia ( )

inline

Jacobian of the swithcing constraint w.r.t. a.

Returns: Reference to the Jacobian. Size is ImpactStatus::dimf() x Robot::dimv().

◆ Phia() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phia ( ) const

inline

const version of SwitchingConstraintJacobian::Phia().

◆ Phiq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phiq ( )

inline

Jacobian of the swithcing constraint w.r.t. q.

Returns: Reference to the Jacobian. Size is ImpactStatus::dimf() x Robot::dimv().

◆ Phiq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phiq ( ) const

inline

const version of SwitchingConstraintJacobian::Phiq().

◆ Phit() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTMatrix::Phit ( )

inline

Jacobian of the swithcing constraint w.r.t. the switching time.

Returns: Reference to the time Jacobian vector. Size is ImpactStatus::dimf().

◆ Phit() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTMatrix::Phit ( ) const

inline

const version of SwitchingConstraintJacobian::Phit().

◆ Phiu() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phiu ( )

inline

Jacobian of the swithcing constraint w.r.t. u.

Returns: Reference to the Jacobian. Size is ImpactStatus::dimf() x Robot::dimu().

◆ Phiu() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phiu ( ) const

inline

const version of SwitchingConstraintJacobian::Phiu().

◆ Phiv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phiv ( )

inline

Jacobian of the swithcing constraint w.r.t. v.

Returns: Reference to the Jacobian. Size is ImpactStatus::dimf() x Robot::dimv().

◆ Phiv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phiv ( ) const

inline

const version of SwitchingConstraintJacobian::Phiv().

◆ Phix() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phix ( )

inline

Jacobian of the swithcing constraint w.r.t. x.

Returns: Reference to the Jacobian. Size is ImpactStatus::dimf() x 2 * Robot::dimv().

◆ Phix() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Phix ( ) const

inline

const version of SwitchingConstraintJacobian::Phix().

◆ Qff() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qff ( )

inline

Hessian of the Lagrangian with respect to the contact forces f.

Returns: Reference to the Hessian. Size is ContactStatus::dimf() x ContactStatus::dimf().

◆ Qff() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qff ( ) const

inline

const version of SplitKKTMatrix::Qff().

◆ Qqf() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqf ( )

inline

Hessian of the Lagrangian with respect to the configuration and contact forces.

Returns: Reference to the Hessian. Size is Robot::dimv() x ContactStatus::dimf().

◆ Qqf() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqf ( ) const

inline

const version of SplitKKTMatrix::Qqf().

◆ Qqq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqq ( )

inline

Hessian w.r.t. the configuration q and configuration q.

Returns: Reference to the Hessian. Size is Robot::dimv() x Robot::dimv().

◆ Qqq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqq ( ) const

inline

const version of SplitKKTMatrix::Qqq().

◆ Qqu() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqu ( )

inline

Hessian of the Lagrangian with respect to the configuration q and control input torques u.

Returns: Reference to the Hessian. Size is Robot::dimu() x Robot::dimv().

◆ Qqu() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqu ( ) const

inline

const version of SplitKKTMatrix::Qqu().

◆ Qqv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqv ( )

inline

Hessian w.r.t. the configuration q and joint velocity v.

Returns: Reference to the Hessian. Size is Robot::dimv() x Robot::dimv().

◆ Qqv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qqv ( ) const

inline

const version of SplitKKTMatrix::Qqv().

◆ Qvq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qvq ( )

inline

Hessian w.r.t. the joint velocity v and configuration q.

Returns: Reference to the Hessian. Size is Robot::dimv() x Robot::dimv().

◆ Qvq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qvq ( ) const

inline

const version of SplitKKTMatrix::Qvq().

◆ Qvu() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qvu ( )

inline

Hessian of the Lagrangian with respect to the velocity v and control input torques u.

Returns: Reference to the Hessian. Size is Robot::dimu() x Robot::dimv().

◆ Qvu() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qvu ( ) const

inline

const version of SplitKKTMatrix::Qvu().

◆ Qvv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qvv ( )

inline

Hessian w.r.t. the joint velocity v and joint velocity v.

Returns: Reference to the Hessian. Size is Robot::dimv() x Robot::dimv().

◆ Qvv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitKKTMatrix::Qvv ( ) const

inline

const version of SplitKKTMatrix::Qvv().

◆ Random() [1/2]

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

static

Generates split KKT matrix filled randomly.

Returns: Split KKT matrix filled randomly.

Parameters

[in] robot Robot model.

◆ Random() [2/2]

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

static

Generates split KKT matrix filled randomly.

Returns: Split KKT matrix filled randomly.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.

◆ setContactDimension()

void robotoc::SplitKKTMatrix::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() [1/2]

void robotoc::SplitKKTMatrix::setRandom ( )

Set by random value based on the current contact status.

◆ setRandom() [2/2]

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

Set by random value. Contact status is reset.

Parameters

[in] contact_status Contact status.

◆ setSwitchingConstraintDimension()

void robotoc::SplitKKTMatrix::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::SplitKKTMatrix::setZero ( )

inline

Set the all components zero.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const SplitKKTMatrix &	kkt_matrix
	)

friend

Member Data Documentation

◆ Fvu

Eigen::MatrixXd robotoc::SplitKKTMatrix::Fvu

Jacobian of the state equation (w.r.t. v) w.r.t. u.

◆ fx

Eigen::VectorXd robotoc::SplitKKTMatrix::fx

Derivative of the discrete time state equation w.r.t. the length of the time interval.

◆ Fxx

Eigen::MatrixXd robotoc::SplitKKTMatrix::Fxx

Jacobian of the state equation w.r.t. the state x.

◆ ha

Eigen::VectorXd robotoc::SplitKKTMatrix::ha

Derivative of the Hamiltonian w.r.t. the acceleration.

◆ hu

Eigen::VectorXd robotoc::SplitKKTMatrix::hu

Derivative of the Hamiltonian w.r.t. the control input.

◆ hx

Eigen::VectorXd robotoc::SplitKKTMatrix::hx

Derivative of the Hamiltonian w.r.t. the state.

◆ Qaa

Eigen::MatrixXd robotoc::SplitKKTMatrix::Qaa

Hessian w.r.t. the acceleration a and acceleration a.

◆ Qdvdv

Eigen::MatrixXd robotoc::SplitKKTMatrix::Qdvdv

Hessian w.r.t. the impact change in the velocity ddv.

◆ Qtt

double robotoc::SplitKKTMatrix::Qtt

Hessian of the Lagrangian w.r.t. the switching time.

◆ Qtt_prev

double robotoc::SplitKKTMatrix::Qtt_prev

Hessian of the Lagrangian w.r.t. the previoius switching time.

◆ Quu

Eigen::MatrixXd robotoc::SplitKKTMatrix::Quu

Hessian w.r.t. the control input torques u and the control input torques u.

◆ Qxu

Eigen::MatrixXd robotoc::SplitKKTMatrix::Qxu

Hessian w.r.t. the state x and the control input torques u.

◆ Qxx

Eigen::MatrixXd robotoc::SplitKKTMatrix::Qxx

Hessian w.r.t. to the state x and state x.

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SplitKKTMatrix() [1/4]

◆ SplitKKTMatrix() [2/4]

◆ ~SplitKKTMatrix()

◆ SplitKKTMatrix() [3/4]

◆ SplitKKTMatrix() [4/4]

Member Function Documentation

◆ dimf()

◆ dims()

◆ disp()

◆ fq() [1/2]

◆ fq() [2/2]

◆ Fqq() [1/2]

◆ Fqq() [2/2]

◆ Fqv() [1/2]

◆ Fqv() [2/2]

◆ fv() [1/2]

◆ fv() [2/2]

◆ Fvq() [1/2]

◆ Fvq() [2/2]

◆ Fvv() [1/2]

◆ Fvv() [2/2]

◆ hasNaN()

◆ hf() [1/2]

◆ hf() [2/2]

◆ hq() [1/2]

◆ hq() [2/2]

◆ hv() [1/2]

◆ hv() [2/2]

◆ isApprox()

◆ isDimensionConsistent()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Phia() [1/2]

◆ Phia() [2/2]

◆ Phiq() [1/2]

◆ Phiq() [2/2]

◆ Phit() [1/2]

◆ Phit() [2/2]

◆ Phiu() [1/2]

◆ Phiu() [2/2]

◆ Phiv() [1/2]

◆ Phiv() [2/2]

◆ Phix() [1/2]

◆ Phix() [2/2]

◆ Qff() [1/2]

◆ Qff() [2/2]

◆ Qqf() [1/2]

◆ Qqf() [2/2]

◆ Qqq() [1/2]

◆ Qqq() [2/2]

◆ Qqu() [1/2]

◆ Qqu() [2/2]

◆ Qqv() [1/2]

◆ Qqv() [2/2]

◆ Qvq() [1/2]

◆ Qvq() [2/2]

◆ Qvu() [1/2]

◆ Qvu() [2/2]

◆ Qvv() [1/2]

◆ Qvv() [2/2]

◆ Random() [1/2]

◆ Random() [2/2]

◆ setContactDimension()

◆ setRandom() [1/2]

◆ setRandom() [2/2]

◆ setSwitchingConstraintDimension()

◆ setZero()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ Fvu

◆ fx

◆ Fxx

◆ ha