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"

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Namespaces
namespace	robotoc

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