impact_dynamics.hpp File Reference

#include "Eigen/Core"
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/impact_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 impact_dynamics.hpp:

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Namespaces
namespace	robotoc

Functions
void	robotoc::evalImpactDynamics (Robot &robot, const ImpactStatus &impact_status, const SplitSolution &s, ContactDynamicsData &data)
	Computes the residual in the impact dynamics constraint. More...
void	robotoc::linearizeImpactDynamics (Robot &robot, const ImpactStatus &impact_status, const SplitSolution &s, ContactDynamicsData &data, SplitKKTResidual &kkt_residual)
	Linearizes the impact dynamics constraint. More...
void	robotoc::condenseImpactDynamics (Robot &robot, const ImpactStatus &impact_status, ContactDynamicsData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Condenses the inverse dynamics constraint. More...
void	robotoc::expandImpactDynamicsPrimal (const ContactDynamicsData &data, SplitDirection &d)
	Expands the primal variables, i.e., computes the Newton direction of the condensed primal variables (impact change in the velocity dv and the impact forces f) of this impact stage. More...
void	robotoc::expandImpactDynamicsDual (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 impact stage. More...