#include "footstep_planner/miqp_biped.h"
#include "ros/console.h"
#include <iostream>
#include <cassert>
#include <fstream>

Include dependency graph for miqp_biped.cpp:

Functions
DecVars	miqp::biped::add_decision_variables (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps)

void	miqp::biped::set_initial_and_goal_position (drake::solvers::MathematicalProgram &prog, Terrain &terrain, DecVars &decision_variables)

void	miqp::biped::relative_position_limits (drake::solvers::MathematicalProgram &prog, int n_steps, double step_span, double step_height, DecVars &decision_variables)

void	miqp::biped::step_sequence (drake::solvers::MathematicalProgram &prog, int n_steps, double step_span, DecVars &decision_variables)

void	miqp::biped::one_stone_per_foot (drake::solvers::MathematicalProgram &prog, int n_steps, DecVars &decision_variables)

Eigen::Vector4d	miqp::biped::get_big_M (Terrain terrain)

void	miqp::biped::foot_in_stepping_stone (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps, DecVars &decision_variables)

void	miqp::biped::minimize_step_length (drake::solvers::MathematicalProgram &prog, int n_steps, DecVars &decision_variables)

void	miqp::biped::writeMatToFile (Eigen::MatrixXd &mat, std::string filename)

void	miqp::biped::writeDecVarsToFile (DecVars_res &decision_variables, std::string base_name="footstep_planner")

Namespaces

Functions