Inverse dynamics constraint without constraints (floating base or contacts). More...

#include <unconstr_dynamics.hpp>

Public Member Functions
	UnconstrDynamics (const Robot &robot)
	Constructs the inverse dynamics. More...

	UnconstrDynamics ()
	Default constructor. More...

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

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

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

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

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

void	evalUnconstrDynamics (Robot &robot, const SplitSolution &s)
	Computes the residual in the unconstrained dynamics constraint. More...

void	linearizeUnconstrDynamics (Robot &robot, const double dt, const SplitSolution &s, SplitKKTResidual &kkt_residual)
	Linearizes the unconstrained dynamics constraint. More...

void	condenseUnconstrDynamics (SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Condenses the unconstrained dynamics constraint. More...

void	expandPrimal (SplitDirection &d) const
	Expands the primal variables, i.e., computes the Newton direction of the condensed primal variable (control input torques) of this stage. More...

template<int p = 1>
double	primalFeasibility () const

double	KKTError () const
	Returns squared norm of the KKT residual, that is, the residual in the unconstrained dynamics constraint. More...

template<typename MatrixType1 , typename MatrixType2 >
void	getStateFeedbackGain (const Eigen::MatrixBase< MatrixType1 > &Ka, const Eigen::MatrixBase< MatrixType2 > &Ku) const

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 , typename MatrixType4 >
void	getStateFeedbackGain (const Eigen::MatrixBase< MatrixType1 > &Kaq, const Eigen::MatrixBase< MatrixType2 > &Kav, const Eigen::MatrixBase< MatrixType3 > &Kuq, const Eigen::MatrixBase< MatrixType4 > &Kuv) const

Static Public Member Functions
static void	expandDual (const double dt, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, SplitDirection &d)
	Expands the dual variables, i.e., computes the Newton direction of the condensed dual variable (Lagrange multiplier) of this stage. More...

Detailed Description

Inverse dynamics constraint without constraints (floating base or contacts).

Constructor & Destructor Documentation

◆ UnconstrDynamics() [1/4]

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

Constructs the inverse dynamics.

Parameters

[in] robot Robot model.

◆ UnconstrDynamics() [2/4]

robotoc::UnconstrDynamics::UnconstrDynamics ( )

Default constructor.

◆ ~UnconstrDynamics()

robotoc::UnconstrDynamics::~UnconstrDynamics ( )

default

Default destructor.

◆ UnconstrDynamics() [3/4]

robotoc::UnconstrDynamics::UnconstrDynamics ( const UnconstrDynamics & )

default

Default copy constructor.

◆ UnconstrDynamics() [4/4]

robotoc::UnconstrDynamics::UnconstrDynamics ( UnconstrDynamics && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ condenseUnconstrDynamics()

void robotoc::UnconstrDynamics::condenseUnconstrDynamics	(	SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Condenses the unconstrained dynamics constraint.

Parameters

[in]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.

◆ evalUnconstrDynamics()

void robotoc::UnconstrDynamics::evalUnconstrDynamics	(	Robot &	robot,
		const SplitSolution &	s
	)

Computes the residual in the unconstrained dynamics constraint.

Parameters

[in]	robot	Robot model.
[in]	s	Split solution of this time stage.

◆ expandDual()

static void robotoc::UnconstrDynamics::expandDual	(	const double	dt,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		SplitDirection &	d
	)

static

Expands the dual variables, i.e., computes the Newton direction of the condensed dual variable (Lagrange multiplier) of this stage.

Parameters

[in]	dt	Time step of this time stage.
[in]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.
[in,out]	d	Split direction of this time stage.

◆ expandPrimal()

void robotoc::UnconstrDynamics::expandPrimal ( SplitDirection & d ) const

Expands the primal variables, i.e., computes the Newton direction of the condensed primal variable (control input torques) of this stage.

Parameters

[in,out] d Split direction of this time stage.

◆ getStateFeedbackGain() [1/2]

template<typename MatrixType1 , typename MatrixType2 >

void robotoc::UnconstrDynamics::getStateFeedbackGain	(	const Eigen::MatrixBase< MatrixType1 > &	Ka,
		const Eigen::MatrixBase< MatrixType2 > &	Ku
	)		const

inline

◆ getStateFeedbackGain() [2/2]

template<typename MatrixType1 , typename MatrixType2 , typename MatrixType3 , typename MatrixType4 >

void robotoc::UnconstrDynamics::getStateFeedbackGain	(	const Eigen::MatrixBase< MatrixType1 > &	Kaq,
		const Eigen::MatrixBase< MatrixType2 > &	Kav,
		const Eigen::MatrixBase< MatrixType3 > &	Kuq,
		const Eigen::MatrixBase< MatrixType4 > &	Kuv
	)		const

inline

◆ KKTError()

double robotoc::UnconstrDynamics::KKTError ( ) const

inline

Returns squared norm of the KKT residual, that is, the residual in the unconstrained dynamics constraint.

Returns: Squared norm of the residual in the unconstrained dynamics constraint.

◆ linearizeUnconstrDynamics()

void robotoc::UnconstrDynamics::linearizeUnconstrDynamics	(	Robot &	robot,
		const double	dt,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the unconstrained dynamics constraint.

Parameters

[in]	robot	Robot model.
[in]	dt	Time step of this time stage.
[in]	s	Split solution of this time stage.
[in,out]	kkt_residual	Split KKT residual of this time stage.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

UnconstrDynamics & robotoc::UnconstrDynamics::operator= ( UnconstrDynamics && )

defaultnoexcept

Default move assign operator.

◆ primalFeasibility()

template<int p = 1>

double robotoc::UnconstrDynamics::primalFeasibility ( ) const

inline

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

/github/workspace/include/robotoc/dynamics/unconstr_dynamics.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ UnconstrDynamics() [1/4]

◆ UnconstrDynamics() [2/4]

◆ ~UnconstrDynamics()

◆ UnconstrDynamics() [3/4]

◆ UnconstrDynamics() [4/4]

Member Function Documentation

◆ condenseUnconstrDynamics()

◆ evalUnconstrDynamics()

◆ expandDual()

◆ expandPrimal()

◆ getStateFeedbackGain() [1/2]

◆ getStateFeedbackGain() [2/2]

◆ KKTError()

◆ linearizeUnconstrDynamics()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ primalFeasibility()