switching_constraint.hpp File Reference

#include "robotoc/robot/robot.hpp"
#include "robotoc/robot/impact_status.hpp"
#include "robotoc/core/split_solution.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/dynamics/switching_constraint_data.hpp"

Include dependency graph for switching_constraint.hpp:

Go to the source code of this file.

Namespaces
namespace	robotoc

Functions
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. More...
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. More...