Tetrapod Project
footstep_planner.h
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1 #ifndef footstep_planner_h
2 #define footstep_planner_h
3 
4 #include "footstep_planner/miqp_quadruped.h"
5 #include "footstep_planner/utils.h"
6 #include "sensor_msgs/SetCameraInfo.h"
7 
8 #include "ros/console.h"
9 
10 using namespace miqp::quadruped;
11 
12 DecVars_res footstep_planner(Terrain &terrain, int n_steps, int n_legs, double length_legs, Leg step_sequence[], double bbox_len, double step_span, double step_height, bool use_gurobi=true);
13 #endif
footstep_planner
DecVars_res footstep_planner(Terrain &terrain, int n_steps, int n_legs, double length_legs, Leg step_sequence[], double bbox_len, double step_span, double step_height, bool use_gurobi=true)
Definition: footstep_planner.cpp:8
miqp_quadruped.h
miqp::biped::step_sequence
void step_sequence(drake::solvers::MathematicalProgram &prog, int n_steps, double step_span, DecVars &decision_variables)
Definition: miqp_biped.cpp:93
visualize.step_span
int step_span
Definition: visualize.py:14
miqp::quadruped::DecVars_res
Definition: miqp_quadruped.h:73