unconstr_state_equation.hpp

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#ifndef ROBOTOC_UNCONSTR_STATE_EQUATION_HPP_
#define ROBOTOC_UNCONSTR_STATE_EQUATION_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/core/split_solution.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"
 
 
namespace robotoc {
 
void linearizeUnconstrForwardEuler(const double dt, const SplitSolution& s, 
                                   const SplitSolution& s_next, 
                                   SplitKKTMatrix& kkt_matrix, 
                                   SplitKKTResidual& kkt_residual);
 
void linearizeUnconstrForwardEulerTerminal(const SplitSolution& s, 
                                           SplitKKTResidual& kkt_residual);
 
void 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);
 
void linearizeUnconstrBackwardEulerTerminal(const double dt, 
                                            const Eigen::VectorXd& q_prev, 
                                            const Eigen::VectorXd& v_prev, 
                                            const SplitSolution& s, 
                                            SplitKKTMatrix& kkt_matrix, 
                                            SplitKKTResidual& kkt_residual);
 
void evalUnconstrForwardEuler(const double dt, const SplitSolution& s, 
                              const SplitSolution& s_next, 
                              SplitKKTResidual& kkt_residual);
 
void evalUnconstrBackwardEuler(const double dt, const Eigen::VectorXd& q_prev, 
                               const Eigen::VectorXd& v_prev, 
                               const SplitSolution& s, 
                               SplitKKTResidual& kkt_residual);
 
} // namespace robotoc 
 
#endif // ROBOTOC_UNCONSTR_STATE_EQUATION_HPP_