Functions
template<typename ConstraintComponentBaseTypePtr >
void	clear (std::vector< ConstraintComponentBaseTypePtr > &constraints)
	Clears the vector of the constraints. More...

template<typename ConstraintComponentBaseTypePtr >
void	createConstraintsData (const std::vector< ConstraintComponentBaseTypePtr > &constraints, std::vector< ConstraintComponentData > &data)
	Creates constraints data. More...

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >
bool	isFeasible (const std::vector< ConstraintComponentBaseTypePtr > &constraints, Robot &robot, const ContactStatusType &contact_status, std::vector< ConstraintComponentData > &data, const SplitSolution &s)
	Checks whether the current solution s is feasible or not. More...

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >
void	setSlackAndDual (const std::vector< ConstraintComponentBaseTypePtr > &constraints, Robot &robot, const ContactStatusType &contact_status, std::vector< ConstraintComponentData > &data, const SplitSolution &s)
	Sets the slack and dual variables of each constraint components. More...

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >
void	evalConstraint (const std::vector< ConstraintComponentBaseTypePtr > &constraints, Robot &robot, const ContactStatusType &contact_status, std::vector< ConstraintComponentData > &data, const SplitSolution &s)
	Computes the primal residual, residual in the complementary slackness, and the log-barrier_param function of the slack varible. More...

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >
void	linearizeConstraints (const std::vector< ConstraintComponentBaseTypePtr > &constraints, Robot &robot, const ContactStatusType &contact_status, std::vector< ConstraintComponentData > &data, const SplitSolution &s, SplitKKTResidual &kkt_residual)
	Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers. More...

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >
void	condenseSlackAndDual (const std::vector< ConstraintComponentBaseTypePtr > &constraints, const ContactStatusType &contact_status, std::vector< ConstraintComponentData > &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Condenses the slack and dual variables. linearizeConstraints() must be called before this function. More...

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType , typename SplitDirectionType >
void	expandSlackAndDual (const std::vector< ConstraintComponentBaseTypePtr > &constraints, const ContactStatusType &contact_status, std::vector< ConstraintComponentData > &data, const SplitDirectionType &d)
	Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables. More...

template<typename ConstraintComponentBaseTypePtr >
double	maxSlackStepSize (const std::vector< ConstraintComponentBaseTypePtr > &constraints, const std::vector< ConstraintComponentData > &data)
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the direction of the slack variable. More...

template<typename ConstraintComponentBaseTypePtr >
double	maxDualStepSize (const std::vector< ConstraintComponentBaseTypePtr > &constraints, const std::vector< ConstraintComponentData > &data)
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the direction of the dual variable. More...

void	updateSlack (std::vector< ConstraintComponentData > &data, const double step_size)
	Updates the slack variables according to the step size. More...

void	updateDual (std::vector< ConstraintComponentData > &data, const double step_size)
	Updates the dual variables according to the step size. More...

template<typename ConstraintComponentBaseTypePtr >
void	setBarrierParam (std::vector< ConstraintComponentBaseTypePtr > &constraints, const double barrier_param)
	Sets the barrier parameter. More...

template<typename ConstraintComponentBaseTypePtr >
void	setFractionToBoundaryRule (std::vector< ConstraintComponentBaseTypePtr > &constraints, const double fraction_to_boundary_rule)
	Sets the parameter of the fraction-to-boundary-rule. More...

Function Documentation

◆ clear()

template<typename ConstraintComponentBaseTypePtr >

void robotoc::constraintsimpl::clear ( std::vector< ConstraintComponentBaseTypePtr > & constraints )

inline

Clears the vector of the constraints.

Parameters

[in,out] constraints Vector of the constraints.

◆ condenseSlackAndDual()

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >

void robotoc::constraintsimpl::condenseSlackAndDual	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		const ContactStatusType &	contact_status,
		std::vector< ConstraintComponentData > &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

inline

Condenses the slack and dual variables. linearizeConstraints() must be called before this function.

Parameters

[in]	constraints	Vector of the constraints.
[in]	contact_status	Contact status.
[in,out]	data	Vector of the constraints data.
[in,out]	kkt_matrix	Split KKT matrix. The condensed Hessians are added to this object.
[in,out]	kkt_residual	Split KKT residual. The condensed residuals are added to this object.

◆ createConstraintsData()

template<typename ConstraintComponentBaseTypePtr >

void robotoc::constraintsimpl::createConstraintsData	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		std::vector< ConstraintComponentData > &	data
	)

inline

Creates constraints data.

Parameters

[in]	constraints	Vector of the constraints.
[out]	data	Vector of the constraints data.

◆ evalConstraint()

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >

void robotoc::constraintsimpl::evalConstraint	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		Robot &	robot,
		const ContactStatusType &	contact_status,
		std::vector< ConstraintComponentData > &	data,
		const SplitSolution &	s
	)

inline

Computes the primal residual, residual in the complementary slackness, and the log-barrier_param function of the slack varible.

Parameters

[in]	constraints	Vector of the constraint components.
[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in,out]	data	Vector of the constraints data.
[in]	s	Split solution.

◆ expandSlackAndDual()

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType , typename SplitDirectionType >

void robotoc::constraintsimpl::expandSlackAndDual	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		const ContactStatusType &	contact_status,
		std::vector< ConstraintComponentData > &	data,
		const SplitDirectionType &	d
	)

inline

Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables.

Parameters

[in]	constraints	Vector of the constraint components.
[in]	contact_status	Contact status.
[in,out]	data	Vector of the constraints data.
[in]	d	Split direction.

◆ isFeasible()

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >

bool robotoc::constraintsimpl::isFeasible	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		Robot &	robot,
		const ContactStatusType &	contact_status,
		std::vector< ConstraintComponentData > &	data,
		const SplitSolution &	s
	)

inline

Checks whether the current solution s is feasible or not.

Parameters

[in]	constraints	Vector of the constraints.
[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in,out]	data	Vector of the constraints data.
[in]	s	Split solution.

Returns: true if s is feasible. false if not.

◆ linearizeConstraints()

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >

void robotoc::constraintsimpl::linearizeConstraints	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		Robot &	robot,
		const ContactStatusType &	contact_status,
		std::vector< ConstraintComponentData > &	data,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)

inline

Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers.

Parameters

[in]	constraints	Vector of the constraint components.
[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in,out]	data	Vector of the constraints data.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual.

◆ maxDualStepSize()

template<typename ConstraintComponentBaseTypePtr >

double robotoc::constraintsimpl::maxDualStepSize	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		const std::vector< ConstraintComponentData > &	data
	)

inline

Computes and returns the maximum step size by applying fraction-to-boundary-rule to the direction of the dual variable.

Parameters

[in]	constraints	Vector of the constraint components.
[in]	data	Vector of the constraints data.

◆ maxSlackStepSize()

template<typename ConstraintComponentBaseTypePtr >

double robotoc::constraintsimpl::maxSlackStepSize	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		const std::vector< ConstraintComponentData > &	data
	)

inline

Computes and returns the maximum step size by applying fraction-to-boundary-rule to the direction of the slack variable.

Parameters

[in]	constraints	Vector of the constraint components.
[in]	data	Vector of the constraints data.

◆ setBarrierParam()

template<typename ConstraintComponentBaseTypePtr >

void robotoc::constraintsimpl::setBarrierParam	(	std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		const double	barrier_param
	)

inline

Sets the barrier parameter.

Parameters

[in,out]	constraints	Vector of the constraint components.
[in]	barrier_param	Barrier parameter. Must be positive. Should be small.

◆ setFractionToBoundaryRule()

template<typename ConstraintComponentBaseTypePtr >

void robotoc::constraintsimpl::setFractionToBoundaryRule	(	std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		const double	fraction_to_boundary_rule
	)

inline

Sets the parameter of the fraction-to-boundary-rule.

Parameters

[in,out]	constraints	Vector of the constraint components.
[in]	fraction_to_boundary_rule	Must be larger than 0 and smaller than 1. Should be between 0.9 and 0.995.

◆ setSlackAndDual()

template<typename ConstraintComponentBaseTypePtr , typename ContactStatusType >

void robotoc::constraintsimpl::setSlackAndDual	(	const std::vector< ConstraintComponentBaseTypePtr > &	constraints,
		Robot &	robot,
		const ContactStatusType &	contact_status,
		std::vector< ConstraintComponentData > &	data,
		const SplitSolution &	s
	)

inline

Sets the slack and dual variables of each constraint components.

Parameters

[in]	constraints	Vector of the constraints.
[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in,out]	data	Vector of the constraints data.
[in]	s	Split solution.

◆ updateDual()

void robotoc::constraintsimpl::updateDual	(	std::vector< ConstraintComponentData > &	data,
		const double	step_size
	)

inline

Updates the dual variables according to the step size.

Parameters

[in,out]	data	Vector of the constraints data.
[in]	step_size	Step size.

◆ updateSlack()

void robotoc::constraintsimpl::updateSlack	(	std::vector< ConstraintComponentData > &	data,
		const double	step_size
	)

inline

Updates the slack variables according to the step size.

Parameters

[in,out]	data	Vector of the constraints data.
[in]	step_size	Step size.

Functions

Function Documentation

◆ clear()

◆ condenseSlackAndDual()

◆ createConstraintsData()

◆ evalConstraint()

◆ expandSlackAndDual()

◆ isFeasible()

◆ linearizeConstraints()

◆ maxDualStepSize()

◆ maxSlackStepSize()

◆ setBarrierParam()

◆ setFractionToBoundaryRule()

◆ setSlackAndDual()

◆ updateDual()

◆ updateSlack()