Namespaces
namespace	benchmark

namespace	constraintsimpl

namespace	numerics

namespace	pdipm

namespace	rotation

Classes
class	BackwardRiccatiRecursionFactorizer
	Factorizer of the backward Riccati recursion. More...

class	BipedWalkFootStepPlanner
	Foot step planner for the biped robot walk. More...

class	CoMCost
	Cost on the position of the center of mass. More...

class	CoMRefBase
	Base class of reference position of the center of mass (CoM). More...

class	ConfigurationSpaceCost
	Configuration space cost. More...

class	ConfigurationSpaceRefBase
	Base class of the configuration. More...

class	ConstraintComponentBase
	Base class for constraint components. More...

class	ConstraintComponentData
	Data used in constraint components. Composed by slack, dual (Lagrange multiplier), primal residual, complementary slackness between the slack and dual, and directions of slack and dual. More...

class	Constraints
	Stack of the inequality constraints. Composed by constraint components that inherits ConstraintComponentBase or ImpactConstraintComponentBase. More...

class	ConstraintsData
	Data for constraints. Composed of ConstraintComponentData corrensponding to the components of Constraints. More...

class	ContactDynamicsData
	Data used in ContactDynamics. More...

class	ContactModelInfo
	Info of a contact model. More...

class	ContactPlannerBase
	Base interface of contact planners. More...

class	ContactSequence
	The sequence of contact status and discrete events (impact and lift). More...

class	ContactStatus
	Contact status of robot model. More...

class	ContactWrenchCone
	Constraint on the contact wrench cone for surface contacts. More...

class	ControlPolicy
	Control pocily constructed for the MPC solution. More...

class	CostFunction
	Stack of the cost function. Composed by cost function components that inherits CostFunctionComponentBase. More...

class	CostFunctionComponentBase
	Base class of components of cost function. More...

class	CostFunctionData
	Composed of data used to compute the cost function and its derivatives. More...

class	CrawlFootStepPlanner
	Foot step planner for the crawl gait of quadrupeds. More...

class	DerivativeChecker

class	DirectMultipleShooting
	Direct multiple shooting method of the optimal control problems. More...

class	DiscreteEvent
	Discrete event composed by impact and lift. More...

class	DiscreteTimeCoMRef
	Discrete-time reference of the center of mass. More...

class	DiscreteTimeSwingFootRef
	Discrete-time reference of the positions of swinging contact frames. More...

class	FlyingTrotFootStepPlanner
	Foot step planner for the flying trot gait of quadrupeds. More...

class	FrictionCone
	Constraint on the inner-approximated firction cone. More...

class	GridInfo
	Grid information. More...

class	ImpactConstraintComponentBase
	Base class for impact constraint components. More...

class	ImpactFrictionCone
	Constraint on the inner-approximated impact firction cone. More...

class	ImpactStage
	Impact stage computations for optimal control problems. More...

class	ImpactStatus
	Impact status of robot model. Wrapper of ContactStatus to treat impacts. More...

class	ImpactWrenchCone
	Constraint on the wrench firction cone for surface contacts. More...

class	IntermediateStage
	Intermediate stage computations for optimal control problems. More...

class	JointAccelerationLowerLimit
	Constraint on the lower limits of the joint acceleration. More...

class	JointAccelerationUpperLimit
	Constraint on the upper limits of the joint acceleration. More...

class	JointPositionLowerLimit
	Constraint on the lower limits of the joint position. More...

class	JointPositionUpperLimit
	Constraint on the upper limits of the joint position. More...

class	JointTorquesLowerLimit
	Constraint on the lower limits of the joint torques. More...

class	JointTorquesUpperLimit
	Constraint on the upper limits of the joint torques. More...

class	JointVelocityLowerLimit
	Constraint on the lower limits of the joint velocity. More...

class	JointVelocityUpperLimit
	Constraint on the upper limits of the joint velocity. More...

class	JumpFootStepPlanner
	Foot step planner for the jump motion. More...

class	LineSearch
	Line search for optimal control problems. More...

class	LineSearchFilter
	Filter of the line search. More...

class	LineSearchSettings
	Settings for the line search. More...

class	LocalContactForceCost
	Cost on the contact forces expressed in the local frames. More...

class	LQRPolicy
	The state feedback and feedforward policy of LQR subproblem at a time stage. More...

class	MovingWindowFilter
	Moving window filter for foot step planning. More...

class	MPCBipedWalk
	MPC solver for the bipedal robot walk. More...

class	MPCCrawl
	MPC solver for the crawl gait of quadrupeds. More...

class	MPCFlyingTrot
	MPC solver for the trot gait of quadrupeds. More...

class	MPCJump
	MPC solver for the jump control. More...

class	MPCPace
	MPC solver for the pace gait of quadrupeds. More...

class	MPCPeriodicCoMRef
	Periodic reference positions of the center of mass. More...

class	MPCPeriodicConfigurationRef
	Periodic reference configuration for MPC of legged robots. More...

class	MPCPeriodicSwingFootRef
	Periodic reference of the foot position. More...

class	MPCTrot
	MPC solver for the trot gait of quadrupeds. More...

class	OCP
	The optimal control problem. More...

class	OCPData
	A data structure for an optimal control problem. More...

class	OCPSolver
	Optimal control problem solver by Riccati recursion. More...

class	PaceFootStepPlanner
	Foot step planner for the pace gait of quadrupeds. More...

class	ParNMPCIntermediateStage
	The intermediate stage of ParNMPC for unconstrained rigid-body systems. More...

class	ParNMPCTerminalStage
	The terminal stage of ParNMPC for unconstrained rigid-body systems. More...

class	PerformanceIndex
	Performance index of optimal control problems. More...

class	PeriodicCoMRef
	Periodic reference of the center of mass. More...

class	PeriodicSwingFootRef
	Periodic reference of the swing foot position. More...

class	PointContact
	Kinematics and dynamic model of a point contact. More...

class	RaibertHeuristic
	Raibert heuristic for foot step planning. More...

class	RiccatiFactorizer
	Riccati factorizer. More...

class	RiccatiRecursion
	Riccati recursion solver for optimal control problems. Solves the KKT system in linear time complexity w.r.t. the length of the horizon. More...

class	Robot
	Dynamics and kinematics model of robots. Wraps pinocchio::Model and pinocchio::Data. Includes contacts. More...

class	RobotModelInfo
	Info of a robot model. More...

class	RobotProperties
	Collection of the robot properties, which can change after constructing robot models. More...

class	SE3JacobianInverse
	A class that computes the inverse of the Jacobian of SE(3). More...

class	SolutionInterpolator
	Solution interpolator. More...

class	SolverOptions
	Options of optimal control solvers. More...

class	SolverStatistics
	Statistics of optimal control solvers. More...

class	SplitConstrainedRiccatiFactorization
	Riccati factorization matrix and vector for the switching constraint. More...

class	SplitDirection
	Newton direction of the solution to the optimal control problem split into a time stage. More...

class	SplitKKTMatrix
	The KKT matrix split into a time stage. More...

class	SplitKKTResidual
	KKT residual split into each time stage. More...

class	SplitRiccatiFactorization
	Riccati factorization matrix and vector for a time stage. More...

class	SplitSolution
	Solution to the optimal control problem split into a time stage. More...

class	StateEquationData
	Data for the state equations. More...

class	STOConstraints
	Constraints of the switching time optimization problems. More...

class	STOCostFunction
	Stack of the cost function of the switching time optimization (STO) problem. Composed by cost function components that inherits STOCostFunctionComponentBase. More...

class	STOCostFunctionComponentBase
	Base class of components of the cost function of the switching time optimization (STO) problem. More...

class	STOPolicy
	The state feedback and feedforward policy of the switching time optimization (STO). More...

class	SurfaceContact
	Kinematics and dynamic model of a surface contact. More...

class	SwitchingConstraintData
	Data for the switching constraint. More...

class	SwitchingTimeOptimization
	The switching time optimization (STO) problem. More...

class	TaskSpace3DCost
	Cost on the task space position. More...

class	TaskSpace3DRefBase
	Base class of reference task space position. More...

class	TaskSpace6DCost
	Cost on the task space placement (SE(3)). More...

class	TaskSpace6DRefBase
	Base class of reference task space placement (position and orientation). More...

class	TerminalStage
	Terminal stage computations for optimal control problems. More...

class	TimeDiscretization
	Time discretization of the optimal control problem. More...

class	Timer
	A timer class to take benchmarks. More...

class	TrotFootStepPlanner
	Foot step planner for the trot gait of quadrupeds. More...

class	TrotSwingFootRef
	Periodic reference of the foot position. More...

class	UnconstrBackwardCorrection
	Backward correction for optimal control problems of unconstrained rigid-body systems. More...

class	UnconstrBackwardRiccatiRecursionFactorizer
	Factorizer of the backward Riccati recursion of a time stage. More...

class	UnconstrDirectMultipleShooting
	Direct multiple shooting method of optimal control problems of unconstrained rigid-body systems. More...

class	UnconstrDynamics
	Inverse dynamics constraint without constraints (floating base or contacts). More...

class	UnconstrIntermediateStage
	The intermediate stage of OCP computation for unconstrained rigid-body systems. More...

class	UnconstrKKTMatrixInverter
	Schur complement for SplitKKTMatrix for UnconstrParNMPC. More...

class	UnconstrLineSearch
	Line search for optimal control problems for unconstrained rigid-body systems. More...

class	UnconstrOCPData
	Data structure for the optimal control problem of unconstrained rigid-body systems. More...

class	UnconstrOCPSolver
	Optimal control problem solver of unconstrained rigid-body systems by Riccati recursion. "Unconstrained" means that the system does not have either a floating base or any contacts. More...

class	UnconstrParNMPCSolver
	Optimal control problem solver of unconstrained rigid-body systems by ParNMPC algorithm. "Unconstrained" means that the system does not have either a floating base or any contacts. More...

class	UnconstrRiccatiFactorizer
	Riccati factorizer for a time stage. More...

class	UnconstrRiccatiRecursion
	Riccati recursion solver for optimal control problems of unconstrained rigid-body systems. More...

class	UnconstrSplitBackwardCorrection
	Split backward correction. More...

class	UnconstrTerminalStage

Typedefs
using	Direction = aligned_vector< SplitDirection >
	Newton direction of the solution to the optimal control problem. More...

using	KKTMatrix = aligned_vector< SplitKKTMatrix >
	The KKT matrix of the optimal control problem. More...

using	KKTResidual = aligned_vector< SplitKKTResidual >
	The KKT residual of the optimal control problem. More...

using	Solution = aligned_vector< SplitSolution >
	Solution to the optimal control problem. More...

using	RiccatiFactorization = aligned_vector< SplitRiccatiFactorization >
	Riccati factorization matices of the LQR subproblem. More...

using	UnconstrRiccatiFactorization = std::vector< SplitRiccatiFactorization >
	Riccati factorization matices of the LQR subproblem for the unconstrained optimal control problem. More...

using	SE3 = pinocchio::SE3
	Using pinocchio::SE3 without its namespace. More...

template<typename T >
using	aligned_deque = std::deque< T, Eigen::aligned_allocator< T > >
	std deque with Eigen::aligned_allocator. More...

template<typename Key , typename T >
using	aligned_unordered_map = std::unordered_map< Key, T, std::hash< Key >, std::equal_to< Key >, Eigen::aligned_allocator< std::pair< Key, T > > >
	std unordered_map with Eigen::aligned_allocator. More...

template<typename T >
using	aligned_vector = std::vector< T, Eigen::aligned_allocator< T > >
	std vector with Eigen::aligned_allocator. More...

Enumerations
enum class	KinematicsLevel { PositionLevel , VelocityLevel , AccelerationLevel }
	Kinematics level of the constraint component used in ConstraintComponentBase. More...

enum class	FootTrajectoryType { Triangle , Ellipsoid }
	Type of the foot trajectory. More...

enum class	LineSearchMethod { Filter , MeritBacktracking }
	Type of the line search method. More...

enum class	DiscretizationMethod { GridBased , PhaseBased }
	Discretization method of the optimal control problem. More...

enum class	GridType { Intermediate , Impact , Lift , Terminal }
	Type of the grid. More...

enum class	DiscreteEventType { Impact , Lift , None }
	Type of the discrete events. More...

enum class	ContactType { PointContact , SurfaceContact }
	Types of contacts. More...

enum class	BaseJointType { FixedBase , FloatingBase }
	Types of the base joints of robots. More...

enum class	InterpolationOrder { Linear , Zero }
	Order of the interpolation. More...

Functions
std::ostream &	operator<< (std::ostream &os, const Direction &d)

std::ostream &	operator<< (std::ostream &os, const KKTMatrix &kkt_matrix)

std::ostream &	operator<< (std::ostream &os, const KKTResidual &kkt_residual)

std::ostream &	operator<< (std::ostream &os, const Solution &s)

void	evalContactDynamics (Robot &robot, const ContactStatus &contact_status, const SplitSolution &s, ContactDynamicsData &data)
	Computes the residual in the contact dynamics constraint. More...

void	linearizeContactDynamics (Robot &robot, const ContactStatus &contact_status, const SplitSolution &s, ContactDynamicsData &data, SplitKKTResidual &kkt_residual)
	Computes the residual and derivatives of the contact dynamics constraint and derivatives of it. More...

void	condenseContactDynamics (Robot &robot, const ContactStatus &contact_status, const double dt, ContactDynamicsData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Condenses the acceleration, contact forces, and Lagrange multipliers. More...

void	expandContactDynamicsPrimal (const ContactDynamicsData &data, SplitDirection &d)
	Expands the primal variables, i.e., computes the Newton direction of the condensed primal variables (acceleration a and the contact forces f) of this stage. More...

void	expandContactDynamicsDual (const double dt, const double dts, 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 stage. More...

void	evalImpactDynamics (Robot &robot, const ImpactStatus &impact_status, const SplitSolution &s, ContactDynamicsData &data)
	Computes the residual in the impact dynamics constraint. More...

void	linearizeImpactDynamics (Robot &robot, const ImpactStatus &impact_status, const SplitSolution &s, ContactDynamicsData &data, SplitKKTResidual &kkt_residual)
	Linearizes the impact dynamics constraint. More...

void	condenseImpactDynamics (Robot &robot, const ImpactStatus &impact_status, ContactDynamicsData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Condenses the inverse dynamics constraint. More...

void	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	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...

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. More...

void	evalImpactStateEquation (const Robot &robot, const SplitSolution &s, const SplitSolution &s_next, SplitKKTResidual &kkt_residual)
	Computes the residual in the impact state equation. More...

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. More...

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. More...

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

void	evalStateEquation (const Robot &robot, const double dt, const SplitSolution &s, const Eigen::VectorXd &q_next, const Eigen::VectorXd &v_next, SplitKKTResidual &kkt_residual)
	Computes the residual in the state equation. More...

void	evalStateEquation (const Robot &robot, const double dt, const SplitSolution &s, const SplitSolution &s_next, SplitKKTResidual &kkt_residual)
	Computes the residual in the state equation. More...

void	linearizeStateEquation (const Robot &robot, const double dt, const Eigen::VectorXd &q_prev, const SplitSolution &s, const SplitSolution &s_next, StateEquationData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation. More...

void	correctLinearizeStateEquation (const Robot &robot, const double dt, 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	computeInitialStateDirection (const Robot &robot, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const SplitSolution &s0, const StateEquationData &data, SplitDirection &d0)
	Computes the initial state direction using the result of linearizeStateEquation() and correctLinearizeStateEquation(). More...

void	evalSwitchingConstraint (Robot &robot, const ImpactStatus &impact_status, SwitchingConstraintData &data, const double dt1, const double dt2, const SplitSolution &s, SplitKKTResidual &kkt_residual)
	Computes the residual in the switching constraint, i.e., the contact position constraint. More...

void	linearizeSwitchingConstraint (Robot &robot, const ImpactStatus &impact_status, SwitchingConstraintData &data, const double dt1, const double dt2, const SplitSolution &s, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the switching constraint, i.e., the contact position constraint. More...

void	linearizeTerminalStateEquation (const Robot &robot, const Eigen::VectorXd &q_prev, const SplitSolution &s, StateEquationData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation at the teminal stage. More...

void	correctLinearizeTerminalStateEquation (StateEquationData &data, SplitKKTMatrix &kkt_matrix)
	Corrects the linearized state equation using the Jacobian of the Lie group. More...

void	linearizeUnconstrForwardEuler (const double dt, const SplitSolution &s, const SplitSolution &s_next, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of forward Euler. More...

void	linearizeUnconstrForwardEulerTerminal (const SplitSolution &s, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of forward Euler. More...

void	linearizeUnconstrBackwardEuler (const double dt, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, const SplitSolution &s_next, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of backward Euler. More...

void	linearizeUnconstrBackwardEulerTerminal (const double dt, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of backward Euler at the terminal stage. More...

void	evalUnconstrForwardEuler (const double dt, const SplitSolution &s, const SplitSolution &s_next, SplitKKTResidual &kkt_residual)
	Computes the residual in the state equation of forward Euler. More...

void	evalUnconstrBackwardEuler (const double dt, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, SplitKKTResidual &kkt_residual)
	Computes the residual in the state equation of backward Euler. More...

void	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...

std::ostream &	operator<< (std::ostream &os, const RiccatiFactorization &riccati)

void	forwardRiccatiRecursion (const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const LQRPolicy &lqr_policy, SplitDirection &d, SplitDirection &d_next, const bool sto, const bool has_next_sto_phase)
	Performs the forward Riccati recursion and computes the state direction. More...

void	forwardRiccatiRecursion (const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const SplitDirection &d, SplitDirection &d_next)
	Performs the forward Riccati recursion and computes the state direction. More...

void	computeSwitchingTimeDirection (const STOPolicy &sto_policy, SplitDirection &d, const bool has_prev_sto_phase)
	Computes the switching time direction. More...

void	computeCostateDirection (const SplitRiccatiFactorization &riccati, SplitDirection &d, const bool sto, const bool has_next_sto_phase)
	Computes the Newton direction of the costate. More...

void	computeCostateDirection (const SplitRiccatiFactorization &riccati, SplitDirection &d, const bool sto)
	Computes the Newton direction of the costate. More...

void	computeLagrangeMultiplierDirection (const SplitRiccatiFactorization &riccati, SplitDirection &d, const bool sto, const bool has_next_sto_phase)
	Computes the Newton direction of the Lagrange multiplier with respect to the switching constraint. More...

template<typename SE3Type >
const Eigen::Matrix< double, 6, 1 >	Log6Map (const SE3Type &SE3_obj)
	Applies Log6 map that transforms the SE3 into 6-dimensional vector. More...

template<typename SE3Type , typename MatrixType >
void	computeJLog6Map (const SE3Type &SE3_obj, const Eigen::MatrixBase< MatrixType > &J)
	Computes the Jacobian of the Log6 map. More...

Typedef Documentation

◆ aligned_deque

template<typename T >

robotoc::aligned_deque

std deque with Eigen::aligned_allocator.

◆ aligned_unordered_map

template<typename Key , typename T >

robotoc::aligned_unordered_map

std unordered_map with Eigen::aligned_allocator.

◆ aligned_vector

template<typename T >

robotoc::aligned_vector

std vector with Eigen::aligned_allocator.

◆ Direction

robotoc::Direction

Newton direction of the solution to the optimal control problem.

◆ KKTMatrix

robotoc::KKTMatrix

The KKT matrix of the optimal control problem.

◆ KKTResidual

robotoc::KKTResidual

The KKT residual of the optimal control problem.

◆ RiccatiFactorization

robotoc::RiccatiFactorization

Riccati factorization matices of the LQR subproblem.

◆ SE3

robotoc::SE3

Using pinocchio::SE3 without its namespace.

◆ Solution

robotoc::Solution

Solution to the optimal control problem.

◆ UnconstrRiccatiFactorization

robotoc::UnconstrRiccatiFactorization

Riccati factorization matices of the LQR subproblem for the unconstrained optimal control problem.

Enumeration Type Documentation

◆ BaseJointType

enum class robotoc::BaseJointType

strong

Types of the base joints of robots.

Enumerator
FixedBase
FloatingBase

◆ ContactType

enum class robotoc::ContactType

strong

Types of contacts.

Enumerator
PointContact
SurfaceContact

◆ DiscreteEventType

enum class robotoc::DiscreteEventType

strong

Type of the discrete events.

Enumerator
Impact
Lift
None

◆ DiscretizationMethod

enum class robotoc::DiscretizationMethod

strong

Discretization method of the optimal control problem.

Enumerator
GridBased
PhaseBased

◆ FootTrajectoryType

enum class robotoc::FootTrajectoryType

strong

Type of the foot trajectory.

Enumerator
Triangle
Ellipsoid

◆ GridType

enum class robotoc::GridType

strong

Type of the grid.

Enumerator
Intermediate
Impact
Lift
Terminal

◆ InterpolationOrder

enum class robotoc::InterpolationOrder

strong

Order of the interpolation.

Enumerator
Linear
Zero

◆ KinematicsLevel

enum class robotoc::KinematicsLevel

strong

Kinematics level of the constraint component used in ConstraintComponentBase.

Enumerator
PositionLevel
VelocityLevel
AccelerationLevel

◆ LineSearchMethod

enum class robotoc::LineSearchMethod

strong

Type of the line search method.

Enumerator
Filter
MeritBacktracking

Function Documentation

◆ computeCostateDirection() [1/2]

void robotoc::computeCostateDirection	(	const SplitRiccatiFactorization &	riccati,
		SplitDirection &	d,
		const bool	sto
	)

Computes the Newton direction of the costate.

Parameters

[in]	riccati	Riccati factorization of this impact stage.
[in,out]	d	Impact split direction.
[in]	sto	If true, the STO sensitivities are also considered.

◆ computeCostateDirection() [2/2]

void robotoc::computeCostateDirection	(	const SplitRiccatiFactorization &	riccati,
		SplitDirection &	d,
		const bool	sto,
		const bool	has_next_sto_phase
	)

Computes the Newton direction of the costate.

Parameters

[in]	riccati	Riccati factorization of this impact stage.
[in,out]	d	Split direction.
[in]	sto	If true, the STO sensitivities are also considered.
[in]	has_next_sto_phase	Flag for wheather this phase has the next phase involving the STO problem.

◆ computeInitialStateDirection() [1/2]

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().

Parameters

[in]	robot	Robot model.
[in]	q0	Initial configuration.
[in]	v0	Initial generalized velocity.
[in]	s0	Split solution at the initial stage.
[in]	data	Data structure for the optimal control problem.
[in,out]	d0	Split direction at the initial stage.

◆ computeInitialStateDirection() [2/2]

void robotoc::computeInitialStateDirection	(	const Robot &	robot,
		const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	v0,
		const SplitSolution &	s0,
		const StateEquationData &	data,
		SplitDirection &	d0
	)

Computes the initial state direction using the result of
linearizeStateEquation() and correctLinearizeStateEquation().

Parameters

[in]	robot	Robot model.
[in]	q0	Initial configuration.
[in]	v0	Initial generalized velocity.
[in]	s0	Split solution at the initial stage.
[in]	data	Data structure for the state equation.
[in,out]	d0	Split direction at the initial stage.

◆ computeJLog6Map()

template<typename SE3Type , typename MatrixType >

void robotoc::computeJLog6Map	(	const SE3Type &	SE3_obj,
		const Eigen::MatrixBase< MatrixType > &	J
	)

Computes the Jacobian of the Log6 map.

Parameters

[in]	SE3_obj	SE3 object
[in,out]	J	Resultant Jacobian. Size must be 6x6.

◆ computeLagrangeMultiplierDirection()

void robotoc::computeLagrangeMultiplierDirection	(	const SplitRiccatiFactorization &	riccati,
		SplitDirection &	d,
		const bool	sto,
		const bool	has_next_sto_phase
	)

Computes the Newton direction of the Lagrange multiplier with respect to the switching constraint.

Parameters

[in]	riccati	Riccati factorization.
[in,out]	d	Split direction of the this stage.
[in]	sto	If true, the STO sensitivities are also considered.
[in]	has_next_sto_phase	Flag for wheather this phase has the next phase involving the STO problem.

◆ computeSwitchingTimeDirection()

void robotoc::computeSwitchingTimeDirection	(	const STOPolicy &	sto_policy,
		SplitDirection &	d,
		const bool	has_prev_sto_phase
	)

Computes the switching time direction.

Parameters

[in,out]	sto_policy	STO policy.
[in]	d	Split direction.
[in]	has_prev_sto_phase	Flag for wheather this phase has the previous phase involving the STO problem.

◆ condenseContactDynamics()

void robotoc::condenseContactDynamics	(	Robot &	robot,
		const ContactStatus &	contact_status,
		const double	dt,
		ContactDynamicsData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Condenses the acceleration, contact forces, and Lagrange multipliers.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status of this time stage.
[in]	dt	Time step of this time stage.
[in,out]	data	Data structure for the contact dynamics.
[in,out]	kkt_matrix	Split KKT matrix of this time stage.
[in,out]	kkt_residual	Split KKT residual of this time stage.

◆ condenseImpactDynamics()

void robotoc::condenseImpactDynamics	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ContactDynamicsData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Condenses the inverse dynamics constraint.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status of this impact stage.
[in,out]	data	Data structure for the contact dynamics.
[in,out]	kkt_matrix	Split KKT matrix of this impact stage.
[in,out]	kkt_residual	Split KKT residual of this impact stage.

◆ correctCostateDirection()

void robotoc::correctCostateDirection	(	StateEquationData &	data,
		SplitDirection &	d
	)

Corrects the costate direction using the Jacobian of the Lie group.

Parameters

[in,out]	data	Data structure for the state equation.
[in,out]	d	Split direction.

◆ correctLinearizeImpactStateEquation()

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.

Parameters

[in]	robot	Robot model.
[in]	s	Solution at the current impact stage.
[in]	s_next	Solution at the next time stage.
[in,out]	data	Data structure for the state equation.
[in,out]	kkt_matrix	Impact split KKT matrix at the current impact stage.
[in,out]	kkt_residual	Impact split KKT residual at the current impact stage.

◆ correctLinearizeStateEquation()

void robotoc::correctLinearizeStateEquation	(	const Robot &	robot,
		const double	dt,
		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.

Parameters

[in]	robot	Robot model.
[in]	dt	Time step.
[in]	s	Solution at the current stage.
[in]	s_next	Solution at the next time stage.
[in,out]	data	Data structure for the state equation.
[in,out]	kkt_matrix	Split KKT matrix at the current time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ correctLinearizeTerminalStateEquation()

void robotoc::correctLinearizeTerminalStateEquation	(	StateEquationData &	data,
		SplitKKTMatrix &	kkt_matrix
	)

Corrects the linearized state equation using the Jacobian of the Lie group.

Parameters

[in,out]	data	Data structure for the state equation.
[in,out]	kkt_matrix	Split KKT matrix at the current time stage.

◆ evalContactDynamics()

void robotoc::evalContactDynamics	(	Robot &	robot,
		const ContactStatus &	contact_status,
		const SplitSolution &	s,
		ContactDynamicsData &	data
	)

Computes the residual in the contact dynamics constraint.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status of this time stage.
[in]	s	Split solution of this time stage.
[in,out]	data	Data structure for the contact dynamics.

◆ evalImpactDynamics()

void robotoc::evalImpactDynamics	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		const SplitSolution &	s,
		ContactDynamicsData &	data
	)

Computes the residual in the impact dynamics constraint.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status of this impact stage.
[in]	s	Split solution of this impact stage.
[in,out]	data	Data structure for the contact dynamics.

◆ evalImpactStateEquation() [1/2]

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.

Parameters

[in]	robot	Robot model.
[in]	s	Solution at the current impact stage.
[in]	q_next	Configuration at the next time stage.
[in]	v_next	Generalized velocity at the next time stage.
[in,out]	kkt_residual	Impact split KKT residual at the current impact stage.

◆ evalImpactStateEquation() [2/2]

void robotoc::evalImpactStateEquation	(	const Robot &	robot,
		const SplitSolution &	s,
		const SplitSolution &	s_next,
		SplitKKTResidual &	kkt_residual
	)

Computes the residual in the impact state equation.

Parameters

[in]	robot	Robot model.
[in]	s	Solution at the current impact stage.
[in]	s_next	Solution at the next time stage.
[in,out]	kkt_residual	Impact split KKT residual at the current impact stage.

◆ evalStateEquation() [1/2]

void robotoc::evalStateEquation	(	const Robot &	robot,
		const double	dt,
		const SplitSolution &	s,
		const Eigen::VectorXd &	q_next,
		const Eigen::VectorXd &	v_next,
		SplitKKTResidual &	kkt_residual
	)

Computes the residual in the state equation.

Parameters

[in]	robot	Robot model.
[in]	dt	Time step.
[in]	s	Solution at the current time stage.
[in]	q_next	Configuration at the next time stage.
[in]	v_next	Generalized velocity at the next time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ evalStateEquation() [2/2]

void robotoc::evalStateEquation	(	const Robot &	robot,
		const double	dt,
		const SplitSolution &	s,
		const SplitSolution &	s_next,
		SplitKKTResidual &	kkt_residual
	)

Computes the residual in the state equation.

Parameters

[in]	robot	Robot model.
[in]	dt	Time step.
[in]	s	Solution at the current time stage.
[in]	s_next	Solution at the next time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ evalSwitchingConstraint()

void robotoc::evalSwitchingConstraint	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		SwitchingConstraintData &	data,
		const double	dt1,
		const double	dt2,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)

Computes the residual in the switching constraint, i.e., the contact position constraint.

Note: The internal kinematics data of robot is updated.

Parameters

[in]	robot	Robot model. Kinematics must be updated.
[in]	impact_status	Impact status.
[in,out]	data	Data structure for the switching constraint.
[in]	dt1	Time step of the time stage 2 stage before the impact.
[in]	dt2	Time step of the time stage just before the impact.
[in]	s	Split solution of the time stage 2 stage before the impact.
[in,out]	kkt_residual	Split KKT residual of the time stage 2 stage before the impact.

◆ evalUnconstrBackwardEuler()

void robotoc::evalUnconstrBackwardEuler	(	const double	dt,
		const Eigen::VectorXd &	q_prev,
		const Eigen::VectorXd &	v_prev,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)

Computes the residual in the state equation of backward Euler.

Parameters

[in]	dt	Time step.
[in]	q_prev	Configuration at the previous time stage.
[in]	v_prev	Generalized velocity at the previous time stage.
[in]	s	Solution at the current time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ evalUnconstrForwardEuler()

void robotoc::evalUnconstrForwardEuler	(	const double	dt,
		const SplitSolution &	s,
		const SplitSolution &	s_next,
		SplitKKTResidual &	kkt_residual
	)

Computes the residual in the state equation of forward Euler.

Parameters

[in]	dt	Time step.
[in]	s	Solution at the current time stage.
[in]	s_next	Solution at the next time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ expandContactDynamicsDual()

void robotoc::expandContactDynamicsDual	(	const double	dt,
		const double	dts,
		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 stage.

Parameters

[in]	dt	Time step of this time stage.
[in]	dts	Direction of the switching time regarding of this time stage.
[in,out]	data	Data structure for the contact dynamics.
[in]	d_next	Split direction of the next stage.
[in,out]	d	Split direction of this time stage.

◆ expandContactDynamicsPrimal()

void robotoc::expandContactDynamicsPrimal	(	const ContactDynamicsData &	data,
		SplitDirection &	d
	)

Expands the primal variables, i.e., computes the Newton direction of the condensed primal variables (acceleration a and the contact forces f) of this stage.

Parameters

[in]	data	Data structure for the contact dynamics.
[in,out]	d	Split direction of this time stage.

◆ expandImpactDynamicsDual()

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.

Parameters

[in,out]	data	Data structure for the contact dynamics.
[in]	d_next	Split direction of the next stage.
[in,out]	d	Split direction of this impact stage.

◆ expandImpactDynamicsPrimal()

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.

Parameters

[in]	data	Data structure for the contact dynamics.
[in,out]	d	Split direction of this impact stage.

◆ forwardRiccatiRecursion() [1/2]

void robotoc::forwardRiccatiRecursion	(	const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const LQRPolicy &	lqr_policy,
		SplitDirection &	d,
		SplitDirection &	d_next,
		const bool	sto,
		const bool	has_next_sto_phase
	)

Performs the forward Riccati recursion and computes the state direction.

Parameters

[in]	kkt_matrix	Split KKT matrix of this stage.
[in]	kkt_residual	Split KKT residual of this stage.
[in]	lqr_policy	LQR policy of this stage.
[in]	d	Split direction of this stage.
[in,out]	d_next	Split direction of the next stage.
[in]	sto	If true, the STO sensitivities are also considered.
[in]	has_next_sto_phase	Flag for wheather this phase has the next phase involving the STO problem.

◆ forwardRiccatiRecursion() [2/2]

void robotoc::forwardRiccatiRecursion	(	const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const SplitDirection &	d,
		SplitDirection &	d_next
	)

Performs the forward Riccati recursion and computes the state direction.

Parameters

[in]	kkt_matrix	Split KKT matrix of this impact stage.
[in]	kkt_residual	Split KKT residual of this impact stage.
[in]	d	Split direction of this impact stage.
[in,out]	d_next	Split direction of the next stage.

◆ linearizeContactDynamics()

void robotoc::linearizeContactDynamics	(	Robot &	robot,
		const ContactStatus &	contact_status,
		const SplitSolution &	s,
		ContactDynamicsData &	data,
		SplitKKTResidual &	kkt_residual
	)

Computes the residual and derivatives of the contact dynamics
constraint and derivatives of it.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status of this time stage.
[in]	s	Split solution of this time stage.
[in,out]	data	Data structure for the contact dynamics.
[in,out]	kkt_residual	Split KKT residual of this time stage.

◆ linearizeImpactDynamics()

void robotoc::linearizeImpactDynamics	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		const SplitSolution &	s,
		ContactDynamicsData &	data,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the impact dynamics constraint.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status of this impact stage.
[in]	s	Split solution of this impact stage.
[in,out]	data	Data structure for the contact dynamics.
[in,out]	kkt_residual	Split KKT residual of this impact stage.

◆ linearizeImpactStateEquation()

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.

Parameters

[in]	robot	Robot model.
[in]	q_prev	Configuration at the previous time stage.
[in]	s	Solution at the current impact stage.
[in]	s_next	Solution at the next time stage.
[in,out]	data	Data structure for the state equation.
[in,out]	kkt_matrix	Impact split KKT matrix at the current impact stage.
[in,out]	kkt_residual	Impact split KKT residual at the current impact stage.

◆ linearizeStateEquation()

void robotoc::linearizeStateEquation	(	const Robot &	robot,
		const double	dt,
		const Eigen::VectorXd &	q_prev,
		const SplitSolution &	s,
		const SplitSolution &	s_next,
		StateEquationData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the state equation.

Parameters

[in]	robot	Robot model.
[in]	dt	Time step.
[in]	q_prev	Configuration at the previous time stage.
[in]	s	Solution at the current stage.
[in]	s_next	Solution at the next time stage.
[in,out]	data	Data structure for the state equation.
[in,out]	kkt_matrix	Split KKT matrix at the current time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ linearizeSwitchingConstraint()

void robotoc::linearizeSwitchingConstraint	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		SwitchingConstraintData &	data,
		const double	dt1,
		const double	dt2,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the switching constraint, i.e., the contact position constraint.

Note: The internal kinematics data of robot is updated.

Parameters

[in]	robot	Robot model. Kinematics must be updated.
[in]	impact_status	Impact status.
[in,out]	data	Data structure for the switching constraint.
[in]	dt1	Time step of the time stage 2 stage before the impact.
[in]	dt2	Time step of the time stage just before the impact.
[in]	s	Split solution of the time stage 2 stage before the impact.
[in,out]	kkt_matrix	Split KKT matrix of the time stage 2 stage before the impact.
[in,out]	kkt_residual	Split KKT residual of the time stage 2 stage before the impact.

◆ linearizeTerminalStateEquation()

void robotoc::linearizeTerminalStateEquation	(	const Robot &	robot,
		const Eigen::VectorXd &	q_prev,
		const SplitSolution &	s,
		StateEquationData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the state equation at the teminal stage.

Parameters

[in]	robot	Robot model.
[in]	q_prev	Configuration at the previous time stage.
[in]	s	Solution at the current stage.
[in,out]	data	Data structure for the state equation.
[in,out]	kkt_matrix	Split KKT matrix at the current time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ linearizeUnconstrBackwardEuler()

void robotoc::linearizeUnconstrBackwardEuler	(	const double	dt,
		const Eigen::VectorXd &	q_prev,
		const Eigen::VectorXd &	v_prev,
		const SplitSolution &	s,
		const SplitSolution &	s_next,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the state equation of backward Euler.

Parameters

[in]	dt	Time step.
[in]	q_prev	Configuration at the previous time stage.
[in]	v_prev	Generalized velocity at the previous time stage.
[in]	s	Solution at the current tiem stage.
[in]	s_next	Solution at the next time stage.
[in,out]	kkt_matrix	Split KKT matrix at the current time stage.
[in,out]	kkt_residual	Split KKT reisdual at the current time stage.

◆ linearizeUnconstrBackwardEulerTerminal()

void robotoc::linearizeUnconstrBackwardEulerTerminal	(	const double	dt,
		const Eigen::VectorXd &	q_prev,
		const Eigen::VectorXd &	v_prev,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the state equation of backward Euler at the terminal stage.

Parameters

[in]	dt	Time step.
[in]	q_prev	Configuration at the previous time stage.
[in]	v_prev	Generalized velocity at the previous time stage.
[in]	s	Solution at the current tiem stage.
[in,out]	kkt_matrix	Split KKT matrix at the current time stage.
[in,out]	kkt_residual	Split KKT reisdual at the current time stage.

◆ linearizeUnconstrForwardEuler()

void robotoc::linearizeUnconstrForwardEuler	(	const double	dt,
		const SplitSolution &	s,
		const SplitSolution &	s_next,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the state equation of forward Euler.

Parameters

[in]	dt	Time step.
[in]	s	Solution at the current stage.
[in]	s_next	Solution at the next time stage.
[in,out]	kkt_matrix	Split KKT matrix at the current time stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ linearizeUnconstrForwardEulerTerminal()

void robotoc::linearizeUnconstrForwardEulerTerminal	(	const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)

Linearizes the state equation of forward Euler.

Parameters

[in]	s	Solution at the current stage.
[in,out]	kkt_residual	Split KKT residual at the current time stage.

◆ Log6Map()

template<typename SE3Type >

const Eigen::Matrix< double, 6, 1 > robotoc::Log6Map ( const SE3Type & SE3_obj )

Applies Log6 map that transforms the SE3 into 6-dimensional vector.

Parameters

[in] SE3_obj SE3 object

Returns: Transformed 6-dimensional vector.

◆ operator<<() [1/5]

std::ostream & robotoc::operator<<	(	std::ostream &	os,
		const Direction &	d
	)

◆ operator<<() [2/5]

std::ostream & robotoc::operator<<	(	std::ostream &	os,
		const KKTMatrix &	kkt_matrix
	)

◆ operator<<() [3/5]

std::ostream & robotoc::operator<<	(	std::ostream &	os,
		const KKTResidual &	kkt_residual
	)

◆ operator<<() [4/5]

std::ostream & robotoc::operator<<	(	std::ostream &	os,
		const RiccatiFactorization &	riccati
	)

◆ operator<<() [5/5]

std::ostream & robotoc::operator<<	(	std::ostream &	os,
		const Solution &	s
	)

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ aligned_deque

◆ aligned_unordered_map

◆ aligned_vector

◆ Direction

◆ KKTMatrix

◆ KKTResidual

◆ RiccatiFactorization

◆ SE3

◆ Solution

◆ UnconstrRiccatiFactorization

Enumeration Type Documentation

◆ BaseJointType

◆ ContactType

◆ DiscreteEventType

◆ DiscretizationMethod

◆ FootTrajectoryType

◆ GridType

◆ InterpolationOrder

◆ KinematicsLevel

◆ LineSearchMethod

Function Documentation

◆ computeCostateDirection() [1/2]

◆ computeCostateDirection() [2/2]

◆ computeInitialStateDirection() [1/2]

◆ computeInitialStateDirection() [2/2]

◆ computeJLog6Map()

◆ computeLagrangeMultiplierDirection()

◆ computeSwitchingTimeDirection()

◆ condenseContactDynamics()

◆ condenseImpactDynamics()

◆ correctCostateDirection()

◆ correctLinearizeImpactStateEquation()

◆ correctLinearizeStateEquation()

◆ correctLinearizeTerminalStateEquation()

◆ evalContactDynamics()

◆ evalImpactDynamics()

◆ evalImpactStateEquation() [1/2]

◆ evalImpactStateEquation() [2/2]

◆ evalStateEquation() [1/2]

◆ evalStateEquation() [2/2]

◆ evalSwitchingConstraint()

◆ evalUnconstrBackwardEuler()

◆ evalUnconstrForwardEuler()

◆ expandContactDynamicsDual()

◆ expandContactDynamicsPrimal()

◆ expandImpactDynamicsDual()

◆ expandImpactDynamicsPrimal()

◆ forwardRiccatiRecursion() [1/2]

◆ forwardRiccatiRecursion() [2/2]

◆ linearizeContactDynamics()

◆ linearizeImpactDynamics()

◆ linearizeImpactStateEquation()

◆ linearizeStateEquation()

◆ linearizeSwitchingConstraint()

◆ linearizeTerminalStateEquation()

◆ linearizeUnconstrBackwardEuler()

◆ linearizeUnconstrBackwardEulerTerminal()

◆ linearizeUnconstrForwardEuler()

◆ linearizeUnconstrForwardEulerTerminal()

◆ Log6Map()

◆ operator<<() [1/5]

◆ operator<<() [2/5]

◆ operator<<() [3/5]

◆ operator<<() [4/5]

◆ operator<<() [5/5]