intermediate_stage.hpp File Reference

#include <memory>
#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/cost/cost_function.hpp"
#include "robotoc/constraints/constraints.hpp"
#include "robotoc/planner/contact_sequence.hpp"
#include "robotoc/ocp/grid_info.hpp"
#include "robotoc/ocp/ocp_data.hpp"

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Classes
class	robotoc::IntermediateStage
	Intermediate stage computations for optimal control problems. More...

Namespaces
namespace	robotoc

Functions
void	robotoc::computeInitialStateDirection (const Robot &robot, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const SplitSolution &s0, const OCPData &data, SplitDirection &d0)
	Computes the initial state direction using the result of IntermediateStage::evalKKT(). More...