unconstr_state_equation.hpp File Reference

#include "Eigen/Core"
#include "robotoc/core/split_solution.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"

Include dependency graph for unconstr_state_equation.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
namespace	robotoc

Functions
void	robotoc::linearizeUnconstrForwardEuler (const double dt, const SplitSolution &s, const SplitSolution &s_next, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of forward Euler. More...
void	robotoc::linearizeUnconstrForwardEulerTerminal (const SplitSolution &s, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of forward Euler. More...
void	robotoc::linearizeUnconstrBackwardEuler (const double dt, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, const SplitSolution &s_next, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of backward Euler. More...
void	robotoc::linearizeUnconstrBackwardEulerTerminal (const double dt, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Linearizes the state equation of backward Euler at the terminal stage. More...
void	robotoc::evalUnconstrForwardEuler (const double dt, const SplitSolution &s, const SplitSolution &s_next, SplitKKTResidual &kkt_residual)
	Computes the residual in the state equation of forward Euler. More...
void	robotoc::evalUnconstrBackwardEuler (const double dt, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, SplitKKTResidual &kkt_residual)
	Computes the residual in the state equation of backward Euler. More...