contact_dynamics.hpp File Reference

#include <limits>
#include "Eigen/Core"
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/core/split_solution.hpp"
#include "robotoc/core/split_direction.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"
#include "robotoc/dynamics/contact_dynamics_data.hpp"

Include dependency graph for contact_dynamics.hpp:

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Namespaces
namespace	robotoc

Functions
void	robotoc::evalContactDynamics (Robot &robot, const ContactStatus &contact_status, const SplitSolution &s, ContactDynamicsData &data)
	Computes the residual in the contact dynamics constraint. More...
void	robotoc::linearizeContactDynamics (Robot &robot, const ContactStatus &contact_status, const SplitSolution &s, ContactDynamicsData &data, SplitKKTResidual &kkt_residual)
	Computes the residual and derivatives of the contact dynamics constraint and derivatives of it. More...
void	robotoc::condenseContactDynamics (Robot &robot, const ContactStatus &contact_status, const double dt, ContactDynamicsData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Condenses the acceleration, contact forces, and Lagrange multipliers. More...
void	robotoc::expandContactDynamicsPrimal (const ContactDynamicsData &data, SplitDirection &d)
	Expands the primal variables, i.e., computes the Newton direction of the condensed primal variables (acceleration a and the contact forces f) of this stage. More...
void	robotoc::expandContactDynamicsDual (const double dt, const double dts, ContactDynamicsData &data, const SplitDirection &d_next, SplitDirection &d)
	Expands the dual variables, i.e., computes the Newton direction of the condensed dual variables (Lagrange multipliers) of this stage. More...