contact_dynamics.hpp

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#ifndef ROBOTOC_CONTACT_DYNAMICS_HPP_
#define ROBOTOC_CONTACT_DYNAMICS_HPP_
 
#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"
 
 
namespace robotoc {
 
void evalContactDynamics(Robot& robot, const ContactStatus& contact_status,
                         const SplitSolution& s, ContactDynamicsData& data);
 
void linearizeContactDynamics(Robot& robot, const ContactStatus& contact_status, 
                              const SplitSolution& s, 
                              ContactDynamicsData& data,
                              SplitKKTResidual& kkt_residual);
 
void condenseContactDynamics(Robot& robot, const ContactStatus& contact_status, 
                             const double dt, ContactDynamicsData& data,
                             SplitKKTMatrix& kkt_matrix, 
                             SplitKKTResidual& kkt_residual);
 
void expandContactDynamicsPrimal(const ContactDynamicsData& data, SplitDirection& d);
 
void expandContactDynamicsDual(const double dt, const double dts, 
                               ContactDynamicsData& data,
                               const SplitDirection& d_next, SplitDirection& d);
 
} // namespace robotoc 
 
#endif // ROBOTOC_CONTACT_DYNAMICS_HPP_