impact_state_equation.hpp File Reference

#include "Eigen/Core"
#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/se3_jacobian_inverse.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/state_equation_data.hpp"
#include "robotoc/dynamics/state_equation.hpp"

Include dependency graph for impact_state_equation.hpp:

Go to the source code of this file.

Namespaces
namespace	robotoc

Functions
void	robotoc::evalImpactStateEquation (const Robot &robot, const SplitSolution &s, const Eigen::VectorXd &q_next, const Eigen::VectorXd &v_next, SplitKKTResidual &kkt_residual)
	Computes the residual in the impact state equation. More...
void	robotoc::evalImpactStateEquation (const Robot &robot, const SplitSolution &s, const SplitSolution &s_next, SplitKKTResidual &kkt_residual)
	Computes the residual in the impact state equation. More...
void	robotoc::linearizeImpactStateEquation (const Robot &robot, const Eigen::VectorXd &q_prev, const SplitSolution &s, const SplitSolution &s_next, StateEquationData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the impact state equation. More...
void	robotoc::correctLinearizeImpactStateEquation (const Robot &robot, const SplitSolution &s, const SplitSolution &s_next, StateEquationData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Corrects the linearized state equation using the Jacobian of the Lie group. More...
void	robotoc::correctCostateDirection (StateEquationData &data, SplitDirection &d)
	Corrects the costate direction using the Jacobian of the Lie group. More...