robotoc/terminal__state__equation_8hpp_source.html

#ifndef ROBOTOC_TERMINAL_STATE_EQUATION_HPP_

#define ROBOTOC_TERMINAL_STATE_EQUATION_HPP_


#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"

#include "robotoc/dynamics/state_equation.hpp"


namespace robotoc {


void linearizeTerminalStateEquation(const Robot& robot,

                                    const Eigen::VectorXd& q_prev,

                                    const SplitSolution& s,

                                    StateEquationData& data,

                                    SplitKKTMatrix& kkt_matrix,

                                    SplitKKTResidual& kkt_residual);


void correctLinearizeTerminalStateEquation(StateEquationData& data,

                                           SplitKKTMatrix& kkt_matrix);


} // namespace robotoc


#endif // ROBOTOC_TERMINAL_STATE_EQUATION_HPP_

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::StateEquationData
Data for the state equations.
Definition: state_equation_data.hpp:16

robotoc
Definition: constraint_component_base.hpp:17

robotoc::linearizeTerminalStateEquation
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.

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

robot.hpp

se3_jacobian_inverse.hpp

split_direction.hpp

split_kkt_matrix.hpp

split_kkt_residual.hpp

split_solution.hpp

state_equation.hpp

state_equation_data.hpp