robotoc/switching__constraint_8hpp_source.html

#ifndef ROBOTOC_SWITCHING_CONSTRAINT_HPP_

#define ROBOTOC_SWITCHING_CONSTRAINT_HPP_


#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"


namespace robotoc {


void evalSwitchingConstraint(Robot& robot, const ImpactStatus& impact_status,

                             SwitchingConstraintData& data,

                             const double dt1, const double dt2,

                             const SplitSolution& s,

                             SplitKKTResidual& kkt_residual);


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);


} // namespace robotoc


#endif // ROBOTOC_SWITCHING_CONSTRAINT_HPP_

robotoc::ImpactStatus
Impact status of robot model. Wrapper of ContactStatus to treat impacts.
Definition: impact_status.hpp:21

robotoc::Robot
Dynamics and kinematics model of robots. Wraps pinocchio::Model and pinocchio::Data....
Definition: robot.hpp:32

robotoc::SplitKKTMatrix
The KKT matrix split into a time stage.
Definition: split_kkt_matrix.hpp:18

robotoc::SplitKKTResidual
KKT residual split into each time stage.
Definition: split_kkt_residual.hpp:18

robotoc::SplitSolution
Solution to the optimal control problem split into a time stage.
Definition: split_solution.hpp:20

robotoc::SwitchingConstraintData
Data for the switching constraint.
Definition: switching_constraint_data.hpp:13

impact_status.hpp

robotoc
Definition: constraint_component_base.hpp:17

robotoc::linearizeSwitchingConstraint
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.

robotoc::evalSwitchingConstraint
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.

robot.hpp

split_kkt_matrix.hpp

split_kkt_residual.hpp

split_solution.hpp

switching_constraint_data.hpp