Solution to the optimal control problem split into a time stage. More...

#include <split_solution.hpp>

Public Types
using	Vector6d = Eigen::Matrix< double, 6, 1 >

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

	SplitSolution ()
	Default constructor. More...

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

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

SplitSolution &	operator= (const SplitSolution &)=default
	Default copy assign operator. More...

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

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

void	setContactStatus (const ContactStatus &contact_status)
	Set contact status, i.e., set the dimension of the contacts. More...

void	setContactStatus (const ImpactStatus &contact_status)
	Set contact status, i.e., set the dimension of the contacts. More...

void	setContactStatus (const SplitSolution &other)
	Set contact status, i.e., set the dimension of the contacts. More...

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

Eigen::VectorBlock< Eigen::VectorXd >	f_stack ()
	Stack of the active contact forces. Size is ContactStatus::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	f_stack () const
	Const version of SplitSolution::f_stack(). More...

void	set_f_stack ()
	Sets SplitSolution::f_stack() from SplitSolution::f. More...

void	set_f_vector ()
	Sets SplitSolution::f from SplitSolution::f_stack(). More...

Eigen::VectorBlock< Eigen::VectorXd >	mu_stack ()
	Stack of the Lagrange multipliers w.r.t. the acceleration-level contact constraints that is active at the current contact status. Size is SplitSolution::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	mu_stack () const
	Const version of SplitSolution::mu_stack(). More...

void	set_mu_stack ()
	Set SplitSolution::mu_stack() from SplitSolution::mu. More...

void	set_mu_vector ()
	Set SplitSolution::mu from SplitSolution::mu_stack(). More...

Eigen::VectorBlock< Eigen::VectorXd >	xi_stack ()
	Stack of the Lagrange multipliers w.r.t. the switching constraints that is active at the future impact status. Size is SplitSolution::dimf(). More...

const Eigen::VectorBlock< const Eigen::VectorXd >	xi_stack () const
	const version of SplitSolution::xi_stack(). More...

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

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

bool	isContactActive (const int contact_index) const
	Return true if contact is active and false if not. More...

std::vector< bool >	isContactActive () const
	Return activities of contacts. More...

void	integrate (const Robot &robot, const double step_size, const SplitDirection &d, const bool impact=false)
	Integrates the solution based on step size and direction. More...

void	copyPrimal (const SplitSolution &other)
	Copies the primal solution from another solution. More...

void	copyDual (const SplitSolution &other)
	Copies the dual solution from another solution. More...

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

double	lagrangeMultiplierLinfNorm () const
	Return L-infinity Norm of the lagrange multipliers. Used in line search. More...

void	setRandom (const Robot &robot)
	Set each component vector by random value based on the current contact status. More...

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

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

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

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

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

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

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

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

Public Attributes
Eigen::VectorXd	q
	Configuration. Size is Robot::dimq(). More...

Eigen::VectorXd	v
	Generalized velocity. Size is Robot::dimv(). More...

Eigen::VectorXd	a
	Generalized acceleration. Size is Robot::dimv(). More...

Eigen::VectorXd	dv
	Generalized acceleration. Size is Robot::dimv(). More...

Eigen::VectorXd	u
	Control input torques. Size is Robot::dimu(). More...

std::vector< Vector6d >	f
	Contact wrenches. Upper 3 elements are linear contact force and the lower 3 elements are the angular momentum. Size is Robot::maxNumContacts(). More...

Eigen::VectorXd	lmd
	Lagrange multiplier w.r.t. the state equation w.r.t. q. Size is Robot::dimv(). More...

Eigen::VectorXd	gmm
	Lagrange multiplier w.r.t. the state equation w.r.t. v. Size is Robot::dimv(). More...

Eigen::VectorXd	beta
	Lagrange multiplier w.r.t. the inverse dynamics constraint. Size is Robot::dimv(). More...

std::vector< Vector6d >	mu
	Lagrange multiplier w.r.t. the acceleration-level contact constraint. Upper 3 elements are w.r.t. the linear contact acceleration and the lower 3 elements are w.r.t. the angular contact acceleration. Size is Robot::maxNumContacts(). More...

Eigen::VectorXd	nu_passive
	Lagrange multiplier w.r.t. the passive joint constraint. Size is Robot::dim_passive(). More...

Friends
std::ostream &	operator<< (std::ostream &os, const SplitSolution &s)

Detailed Description

Solution to the optimal control problem split into a time stage.

Member Typedef Documentation

◆ Vector6d

using robotoc::SplitSolution::Vector6d = Eigen::Matrix<double, 6, 1>

Constructor & Destructor Documentation

◆ SplitSolution() [1/4]

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

Construct a split solution.

Parameters

[in] robot Robot model.

◆ SplitSolution() [2/4]

robotoc::SplitSolution::SplitSolution ( )

Default constructor.

◆ ~SplitSolution()

robotoc::SplitSolution::~SplitSolution ( )

default

Default destructor.

◆ SplitSolution() [3/4]

robotoc::SplitSolution::SplitSolution ( const SplitSolution & )

default

Default copy constructor.

◆ SplitSolution() [4/4]

robotoc::SplitSolution::SplitSolution ( SplitSolution && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ copyDual()

void robotoc::SplitSolution::copyDual ( const SplitSolution & other )

Copies the dual solution from another solution.

Parameters

[in] other Another split solution.

◆ copyPrimal()

void robotoc::SplitSolution::copyPrimal ( const SplitSolution & other )

Copies the primal solution from another solution.

Parameters

[in] other Another split solution.

◆ dimf()

int robotoc::SplitSolution::dimf ( ) const

inline

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

Returns: Dimension of the contact.

◆ dims()

int robotoc::SplitSolution::dims ( ) const

inline

Returns the dimension of the switching constraint.

Returns: Dimension of the switching constraint.

◆ disp()

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

Displays the split solution onto a ostream.

◆ f_stack() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitSolution::f_stack ( )

inline

Stack of the active contact forces. Size is ContactStatus::dimf().

Returns: Reference to the stack of the active contact forces.

◆ f_stack() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitSolution::f_stack ( ) const

inline

Const version of SplitSolution::f_stack().

◆ integrate()

void robotoc::SplitSolution::integrate	(	const Robot &	robot,
		const double	step_size,
		const SplitDirection &	d,
		const bool	impact = `false`
	)

Integrates the solution based on step size and direction.

Parameters

[in]	robot	Robot model.
[in]	step_size	Step size.
[in]	d	Split direction.
[in]	impact	Flaf if this is impact stage or not.

◆ isApprox()

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

Return true if two SplitSolution have the same value and false if not.

Parameters

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

◆ isContactActive() [1/2]

std::vector< bool > robotoc::SplitSolution::isContactActive ( ) const

inline

Return activities of contacts.

Returns: Activities of contacts.

◆ isContactActive() [2/2]

bool robotoc::SplitSolution::isContactActive ( const int contact_index ) const

inline

Return true if contact is active and false if not.

Parameters

[in] contact_index Index of a contact of interedted.

Returns: true if a contact is active and false if not.

◆ lagrangeMultiplierLinfNorm()

double robotoc::SplitSolution::lagrangeMultiplierLinfNorm ( ) const

Return L-infinity Norm of the lagrange multipliers. Used in line search.

◆ mu_stack() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitSolution::mu_stack ( )

inline

Stack of the Lagrange multipliers w.r.t. the acceleration-level contact constraints that is active at the current contact status. Size is SplitSolution::dimf().

Returns: Reference to the stack of the Lagrange multipliers w.r.t. the acceleration-level contact constraints.

◆ mu_stack() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitSolution::mu_stack ( ) const

inline

Const version of SplitSolution::mu_stack().

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

SplitSolution & robotoc::SplitSolution::operator= ( SplitSolution && )

defaultnoexcept

Default move assign operator.

◆ Random() [1/4]

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

static

Generates split solution filled randomly.

Returns: Split solution filled randomly.

Parameters

[in] robot Robot model.

◆ Random() [2/4]

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

static

Generates split solution filled randomly.

Returns: Split solution filled randomly.

Parameters

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

◆ Random() [3/4]

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

static

Generates split solution filled randomly.

Returns: Split solution filled randomly.

Parameters

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

◆ Random() [4/4]

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

static

Generates split solution filled randomly.

Returns: Split solution filled randomly.

Parameters

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

◆ set_f_stack()

void robotoc::SplitSolution::set_f_stack ( )

inline

Sets SplitSolution::f_stack() from SplitSolution::f.

◆ set_f_vector()

void robotoc::SplitSolution::set_f_vector ( )

inline

Sets SplitSolution::f from SplitSolution::f_stack().

◆ set_mu_stack()

void robotoc::SplitSolution::set_mu_stack ( )

inline

Set SplitSolution::mu_stack() from SplitSolution::mu.

◆ set_mu_vector()

void robotoc::SplitSolution::set_mu_vector ( )

inline

Set SplitSolution::mu from SplitSolution::mu_stack().

◆ setContactStatus() [1/3]

void robotoc::SplitSolution::setContactStatus ( const ContactStatus & contact_status )

inline

Set contact status, i.e., set the dimension of the contacts.

Parameters

[in] contact_status Contact status.

◆ setContactStatus() [2/3]

void robotoc::SplitSolution::setContactStatus ( const ImpactStatus & contact_status )

inline

Set contact status, i.e., set the dimension of the contacts.

Parameters

[in] contact_status Contact status.

◆ setContactStatus() [3/3]

void robotoc::SplitSolution::setContactStatus ( const SplitSolution & other )

inline

Set contact status, i.e., set the dimension of the contacts.

Parameters

[in] other Other split solution.

◆ setRandom() [1/4]

void robotoc::SplitSolution::setRandom ( const Robot & robot )

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

Parameters

[in] robot Robot model.

◆ setRandom() [2/4]

void robotoc::SplitSolution::setRandom	(	const Robot &	robot,
		const ContactStatus &	contact_status
	)

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

Parameters

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

◆ setRandom() [3/4]

void robotoc::SplitSolution::setRandom	(	const Robot &	robot,
		const ContactStatus &	contact_status,
		const ImpactStatus &	impact_status
	)

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

Parameters

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

◆ setRandom() [4/4]

void robotoc::SplitSolution::setRandom	(	const Robot &	robot,
		const ImpactStatus &	impact_status
	)

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

Parameters

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

◆ setSwitchingConstraintDimension()

void robotoc::SplitSolution::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.

◆ xi_stack() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitSolution::xi_stack ( )

inline

Stack of the Lagrange multipliers w.r.t. the switching constraints that is active at the future impact status. Size is SplitSolution::dimf().

Returns: Reference to the stack of the Lagrange multipliers w.r.t. the switching constraints.

◆ xi_stack() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitSolution::xi_stack ( ) const

inline

const version of SplitSolution::xi_stack().

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const SplitSolution &	s
	)

friend

Member Data Documentation

◆ a

Eigen::VectorXd robotoc::SplitSolution::a

Generalized acceleration. Size is Robot::dimv().

◆ beta

Eigen::VectorXd robotoc::SplitSolution::beta

Lagrange multiplier w.r.t. the inverse dynamics constraint. Size is Robot::dimv().

◆ dv

Eigen::VectorXd robotoc::SplitSolution::dv

Generalized acceleration. Size is Robot::dimv().

◆ f

std::vector<Vector6d> robotoc::SplitSolution::f

Contact wrenches. Upper 3 elements are linear contact force and the lower 3 elements are the angular momentum. Size is Robot::maxNumContacts().

◆ gmm

Eigen::VectorXd robotoc::SplitSolution::gmm

Lagrange multiplier w.r.t. the state equation w.r.t. v. Size is Robot::dimv().

◆ lmd

Eigen::VectorXd robotoc::SplitSolution::lmd

Lagrange multiplier w.r.t. the state equation w.r.t. q. Size is Robot::dimv().

◆ mu

std::vector<Vector6d> robotoc::SplitSolution::mu

Lagrange multiplier w.r.t. the acceleration-level contact
constraint. Upper 3 elements are w.r.t. the linear contact acceleration and the lower 3 elements are w.r.t. the angular contact acceleration. Size is Robot::maxNumContacts().

◆ nu_passive

Eigen::VectorXd robotoc::SplitSolution::nu_passive

Lagrange multiplier w.r.t. the passive joint constraint. Size is Robot::dim_passive().

◆ q

Eigen::VectorXd robotoc::SplitSolution::q

Configuration. Size is Robot::dimq().

◆ u

Eigen::VectorXd robotoc::SplitSolution::u

Control input torques. Size is Robot::dimu().

◆ v

Eigen::VectorXd robotoc::SplitSolution::v

Generalized velocity. Size is Robot::dimv().

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Vector6d

Constructor & Destructor Documentation

◆ SplitSolution() [1/4]

◆ SplitSolution() [2/4]

◆ ~SplitSolution()

◆ SplitSolution() [3/4]

◆ SplitSolution() [4/4]

Member Function Documentation

◆ copyDual()

◆ copyPrimal()

◆ dimf()

◆ dims()

◆ disp()

◆ f_stack() [1/2]

◆ f_stack() [2/2]

◆ integrate()

◆ isApprox()

◆ isContactActive() [1/2]

◆ isContactActive() [2/2]

◆ lagrangeMultiplierLinfNorm()

◆ mu_stack() [1/2]

◆ mu_stack() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Random() [1/4]

◆ Random() [2/4]

◆ Random() [3/4]

◆ Random() [4/4]

◆ set_f_stack()

◆ set_f_vector()

◆ set_mu_stack()

◆ set_mu_vector()

◆ setContactStatus() [1/3]

◆ setContactStatus() [2/3]

◆ setContactStatus() [3/3]

◆ setRandom() [1/4]

◆ setRandom() [2/4]

◆ setRandom() [3/4]

◆ setRandom() [4/4]

◆ setSwitchingConstraintDimension()

◆ xi_stack() [1/2]

◆ xi_stack() [2/2]

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ a

◆ beta

◆ dv

◆ f

◆ gmm

◆ lmd

◆ mu

◆ nu_passive

◆ q

◆ u

◆ v