miqp_quadruped.cpp File Reference

#include "footstep_planner/miqp_quadruped.h"
#include "ros/console.h"
#include <cmath>
#include "footstep_planner/utils.h"

Include dependency graph for miqp_quadruped.cpp:

Go to the source code of this file.

Namespaces
	miqp
	miqp::quadruped

Macros
#define	_USE_MATH_DEFINES

Functions
DecVars	miqp::quadruped::add_decision_variables (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps, int n_legs)
void	miqp::quadruped::set_initial_and_goal_position (drake::solvers::MathematicalProgram &prog, int n_steps, double length_legs, Leg step_sequence[], Terrain &terrain, DecVars &decision_variables, bool enforce_goal_hard=true)
void	miqp::quadruped::theta_limits (drake::solvers::MathematicalProgram &prog, int n_steps, int n_legs, DecVars &decision_variables)
void	miqp::quadruped::geometry_limits (drake::solvers::MathematicalProgram &prog, int n_steps, int n_legs, double length_legs, Leg step_sequence[], Terrain &terrain, double bbox_len, DecVars &decision_variables)
void	miqp::quadruped::relative_position_limits (drake::solvers::MathematicalProgram &prog, int n_steps, int n_legs, double step_span, double step_height, DecVars &decision_variables)
void	miqp::quadruped::one_stone_per_foot (drake::solvers::MathematicalProgram &prog, int n_steps, DecVars &decision_variables)
Eigen::Vector4d	miqp::quadruped::get_big_M (Terrain terrain)
void	miqp::quadruped::foot_in_stepping_stone (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps, DecVars &decision_variables)
void	miqp::quadruped::minimize_step_length (drake::solvers::MathematicalProgram &prog, int n_steps, int n_legs, DecVars &decision_variables)
void	miqp::quadruped::minimize_remaining_length (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps, int n_legs, DecVars &decision_variables)
Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >	miqp::quadruped::get_uncompressed_arrays (Eigen::MatrixXd &arr, Eigen::MatrixXd &sequence_offset, int n_steps, int n_legs, Leg step_sequence[])
DecVars_res	miqp::quadruped::get_decvars_res (DecVars_res_raw &decision_variables_raw, int n_steps, int n_legs, Leg step_sequence[])
void	miqp::quadruped::writeMatToFile (Eigen::MatrixXd &mat, std::string filename)
void	miqp::quadruped::writeDecVarsToFile (DecVars_res &decision_variables, std::string base_name="footstep_planner")

Macro Definition Documentation

_USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Definition at line 9 of file miqp_quadruped.cpp.