KKT residual split into each time stage. More...

#include <split_kkt_residual.hpp>

Public Member Functions
	SplitKKTResidual (const Robot &robot)
	Construct a split KKT residual. More...

	SplitKKTResidual ()
	Default constructor. More...

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

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

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

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

SplitKKTResidual &	operator= (SplitKKTResidual &&) 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 >	Fq ()
	Residual in the state equation w.r.t. the configuration q. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	Fq () const
	const version of SplitKKTResidual::Fq(). More...

Eigen::VectorBlock< Eigen::VectorXd >	Fv ()
	Residual in the state equation w.r.t. the velocity v. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	Fv () const
	const version of SplitKKTResidual::Fq(). More...

Eigen::VectorBlock< Eigen::VectorXd >	P ()
	Residual in the switching constraint. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	P () const
	const version of SplitKKTResidual::P(). More...

Eigen::VectorBlock< Eigen::VectorXd >	lq ()
	KKT residual w.r.t. the configuration q. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	lq () const
	const version of SplitKKTResidual::lq(). More...

Eigen::VectorBlock< Eigen::VectorXd >	lv ()
	KKT residual w.r.t. the joint velocity v. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	lv () const
	const version of SplitKKTResidual::lv(). More...

Eigen::VectorBlock< Eigen::VectorXd >	lf ()
	KKT residual w.r.t. the stack of the contact forces f. More...

const Eigen::VectorBlock< const Eigen::VectorXd >	lf () const
	const version of SplitKKTResidual::lf(). More...

double	KKTError () const
	Returns the squared norm of the KKT residual, that is, the primal and dual residual. More...

template<int p = 1>
double	primalFeasibility () const
	Returns the lp norm of the primal feasibility, i.e., the constraint violation. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter. More...

template<int p = 1>
double	dualFeasibility () const
	Returns the lp norm of the dual feasibility. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter. More...

void	setZero ()
	Sets the split KKT residual zero. More...

int	dimf () const
	Returns the dimension of the stack of the 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 SplitKKTResidual &other) const
	Checks the equivalence of two SplitKKTResidual. 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	setRandom (const ImpactStatus &impact_status)
	Set by random value. Contact status is reset. More...

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

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

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

static SplitKKTResidual	Random (const Robot &robot, const ImpactStatus &impact_status)
	Generates split KKT residual filled randomly. More...

Public Attributes
Eigen::VectorXd	Fx
	Residual in the state equation. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	lx
	KKT Residual w.r.t. the state x. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	la
	KKT residual w.r.t. the acceleration a. Size is Robot::dimv(). More...

Eigen::VectorXd	ldv
	KKT residual w.r.t. the impact change in the velocity ddv. Size is Robot::dimv(). More...

Eigen::VectorXd	lu
	KKT residual w.r.t. the control input torques u. Size is Robot::dimu(). More...

double	h
	KKT residual w.r.t. the switching time, that is, this is the value of the Hamiltonian. More...

Friends
std::ostream &	operator<< (std::ostream &os, const SplitKKTResidual &kkt_residual)

Detailed Description

KKT residual split into each time stage.

Constructor & Destructor Documentation

◆ SplitKKTResidual() [1/4]

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

Construct a split KKT residual.

Parameters

[in] robot Robot model.

◆ SplitKKTResidual() [2/4]

robotoc::SplitKKTResidual::SplitKKTResidual ( )

Default constructor.

◆ ~SplitKKTResidual()

robotoc::SplitKKTResidual::~SplitKKTResidual ( )

default

Default destructor.

◆ SplitKKTResidual() [3/4]

robotoc::SplitKKTResidual::SplitKKTResidual ( const SplitKKTResidual & )

default

Default copy constructor.

◆ SplitKKTResidual() [4/4]

robotoc::SplitKKTResidual::SplitKKTResidual ( SplitKKTResidual && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ dimf()

int robotoc::SplitKKTResidual::dimf ( ) 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.

◆ dims()

int robotoc::SplitKKTResidual::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::SplitKKTResidual::disp ( std::ostream & os ) const

Displays the split KKT residual onto a ostream.

◆ dualFeasibility()

template<int p = 1>

double robotoc::SplitKKTResidual::dualFeasibility

inline

Returns the lp norm of the dual feasibility. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter.

Template Parameters

p	Index of norm. Default is 1 (l1-norm).

Returns: The lp norm of the dual feasibility.

◆ Fq() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTResidual::Fq ( )

inline

Residual in the state equation w.r.t. the configuration q.

Returns: Reference to the residual in the state equation w.r.t. q. Size is Robot::dimv().

◆ Fq() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTResidual::Fq ( ) const

inline

const version of SplitKKTResidual::Fq().

◆ Fv() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTResidual::Fv ( )

inline

Residual in the state equation w.r.t. the velocity v.

Returns: Reference to the residual in the state equation w.r.t. v. Size is Robot::dimv().

◆ Fv() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTResidual::Fv ( ) const

inline

const version of SplitKKTResidual::Fq().

◆ hasNaN()

bool robotoc::SplitKKTResidual::hasNaN ( ) const

Checks this has at least one NaN.

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

◆ isApprox()

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

Checks the equivalence of two SplitKKTResidual.

Parameters

[in] other Other object.

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

◆ isDimensionConsistent()

bool robotoc::SplitKKTResidual::isDimensionConsistent ( ) const

Checks dimensional consistency of each component.

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

◆ KKTError()

double robotoc::SplitKKTResidual::KKTError ( ) const

inline

Returns the squared norm of the KKT residual, that is, the primal and dual residual.

Returns: The squared norm of the KKT residual.

◆ lf() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTResidual::lf ( )

inline

KKT residual w.r.t. the stack of the contact forces f.

Returns: Reference to the residual w.r.t. f. Size is SplitKKTResidual::dimf().

◆ lf() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTResidual::lf ( ) const

inline

const version of SplitKKTResidual::lf().

◆ lq() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTResidual::lq ( )

inline

KKT residual w.r.t. the configuration q.

Returns: Reference to the KKT residual w.r.t. q. Size is Robot::dimv().

◆ lq() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTResidual::lq ( ) const

inline

const version of SplitKKTResidual::lq().

◆ lv() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTResidual::lv ( )

inline

KKT residual w.r.t. the joint velocity v.

Returns: Reference to the KKT residual w.r.t. v. Size is Robot::dimv().

◆ lv() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTResidual::lv ( ) const

inline

const version of SplitKKTResidual::lv().

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

SplitKKTResidual & robotoc::SplitKKTResidual::operator= ( SplitKKTResidual && )

defaultnoexcept

Default move assign operator.

◆ P() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitKKTResidual::P ( )

inline

Residual in the switching constraint.

Returns: Reference to the residual in the switching constraints. Size is SplitKKTResidual::dims().

◆ P() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitKKTResidual::P ( ) const

inline

const version of SplitKKTResidual::P().

◆ primalFeasibility()

template<int p = 1>

double robotoc::SplitKKTResidual::primalFeasibility

inline

Returns the lp norm of the primal feasibility, i.e., the constraint violation. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter.

Template Parameters

p	Index of norm. Default is 1 (l1-norm).

Returns: The lp norm of the primal feasibility.

◆ Random() [1/3]

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

static

Generates split KKT residual filled randomly.

Returns: Split KKT residual filled randomly.

Parameters

[in] robot Robot model.

◆ Random() [2/3]

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

static

Generates split KKT residual filled randomly.

Returns: Split KKT residual filled randomly.

Parameters

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

◆ Random() [3/3]

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

static

Generates split KKT residual filled randomly.

Returns: Split KKT residual filled randomly.

Parameters

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

◆ setContactDimension()

void robotoc::SplitKKTResidual::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() [1/3]

void robotoc::SplitKKTResidual::setRandom ( )

Set by random value based on the current contact status.

◆ setRandom() [2/3]

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

Set by random value. Contact status is reset.

Parameters

[in] contact_status Contact status.

◆ setRandom() [3/3]

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

Set by random value. Contact status is reset.

Parameters

[in] impact_status Contact status.

◆ setSwitchingConstraintDimension()

void robotoc::SplitKKTResidual::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::SplitKKTResidual::setZero ( )

inline

Sets the split KKT residual zero.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const SplitKKTResidual &	kkt_residual
	)

friend

Member Data Documentation

◆ Fx

Eigen::VectorXd robotoc::SplitKKTResidual::Fx

Residual in the state equation. Size is 2 * Robot::dimv().

◆ h

double robotoc::SplitKKTResidual::h

KKT residual w.r.t. the switching time, that is, this is the value of the Hamiltonian.

◆ la

Eigen::VectorXd robotoc::SplitKKTResidual::la

KKT residual w.r.t. the acceleration a. Size is Robot::dimv().

◆ ldv

Eigen::VectorXd robotoc::SplitKKTResidual::ldv

KKT residual w.r.t. the impact change in the velocity ddv. Size is Robot::dimv().

◆ lu

Eigen::VectorXd robotoc::SplitKKTResidual::lu

KKT residual w.r.t. the control input torques u. Size is Robot::dimu().

◆ lx

Eigen::VectorXd robotoc::SplitKKTResidual::lx

KKT Residual w.r.t. the state x. Size is 2 * Robot::dimv().

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SplitKKTResidual() [1/4]

◆ SplitKKTResidual() [2/4]

◆ ~SplitKKTResidual()

◆ SplitKKTResidual() [3/4]

◆ SplitKKTResidual() [4/4]

Member Function Documentation

◆ dimf()

◆ dims()

◆ disp()

◆ dualFeasibility()

◆ Fq() [1/2]

◆ Fq() [2/2]

◆ Fv() [1/2]

◆ Fv() [2/2]

◆ hasNaN()

◆ isApprox()

◆ isDimensionConsistent()

◆ KKTError()

◆ lf() [1/2]

◆ lf() [2/2]

◆ lq() [1/2]

◆ lq() [2/2]

◆ lv() [1/2]

◆ lv() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ P() [1/2]

◆ P() [2/2]

◆ primalFeasibility()

◆ Random() [1/3]

◆ Random() [2/3]

◆ Random() [3/3]

◆ setContactDimension()

◆ setRandom() [1/3]

◆ setRandom() [2/3]

◆ setRandom() [3/3]

◆ setSwitchingConstraintDimension()

◆ setZero()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ Fx

◆ h

◆ la

◆ ldv

◆ lu

◆ lx