robotoc/impact__state__equation_8hpp_source.html

#ifndef ROBOTOC_IMPACT_STATE_EQUATION_HPP_

#define ROBOTOC_IMPACT_STATE_EQUATION_HPP_


#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"


namespace robotoc {


void evalImpactStateEquation(const Robot& robot, const SplitSolution& s,

                             const Eigen::VectorXd& q_next,

                             const Eigen::VectorXd& v_next,

                             SplitKKTResidual& kkt_residual);


void evalImpactStateEquation(const Robot& robot, const SplitSolution& s,

                             const SplitSolution& s_next,

                             SplitKKTResidual& kkt_residual);


void linearizeImpactStateEquation(const Robot& robot,

                                  const Eigen::VectorXd& q_prev,

                                  const SplitSolution& s,

                                  const SplitSolution& s_next,

                                  StateEquationData& data,

                                  SplitKKTMatrix& kkt_matrix,

                                  SplitKKTResidual& kkt_residual);


void correctLinearizeImpactStateEquation(const Robot& robot,

                                         const SplitSolution& s,

                                         const SplitSolution& s_next,

                                         StateEquationData& data,

                                         SplitKKTMatrix& kkt_matrix,

                                         SplitKKTResidual& kkt_residual);


void correctCostateDirection(StateEquationData& data, SplitDirection& d);


} // namespace robotoc


#endif // ROBOTOC_IMPACT_STATE_EQUATION_HPP_

robotoc::Robot
Dynamics and kinematics model of robots. Wraps pinocchio::Model and pinocchio::Data....
Definition: robot.hpp:32

robotoc::SplitDirection
Newton direction of the solution to the optimal control problem split into a time stage.
Definition: split_direction.hpp:20

robotoc::SplitKKTMatrix
The KKT matrix split into a time stage.
Definition: split_kkt_matrix.hpp:18

robotoc::SplitKKTResidual
KKT residual split into each time stage.
Definition: split_kkt_residual.hpp:18

robotoc::SplitSolution
Solution to the optimal control problem split into a time stage.
Definition: split_solution.hpp:20

robotoc::StateEquationData
Data for the state equations.
Definition: state_equation_data.hpp:16

robotoc
Definition: constraint_component_base.hpp:17

robotoc::evalImpactStateEquation
void 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.

robotoc::correctCostateDirection
void correctCostateDirection(StateEquationData &data, SplitDirection &d)
Corrects the costate direction using the Jacobian of the Lie group.

robotoc::correctLinearizeImpactStateEquation
void 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.

robotoc::linearizeImpactStateEquation
void 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.

robot.hpp

se3_jacobian_inverse.hpp

split_direction.hpp

split_kkt_matrix.hpp

split_kkt_residual.hpp

split_solution.hpp

state_equation.hpp

state_equation_data.hpp