miqp_biped.h File Reference

#include <Eigen/Core>
#include <tuple>
#include "footstep_planner/terrain.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/osqp_solver.h"
#include "drake/solvers/branch_and_bound.h"
#include "drake/common/symbolic.h"

Include dependency graph for miqp_biped.h:

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

Go to the source code of this file.

Classes
struct	miqp::biped::DecVars
struct	miqp::biped::DecVars_res

Namespaces
	miqp
	miqp::biped

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, 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")