miqp_quadruped.h File Reference

#include <Eigen/Core>
#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 <iostream>
#include <fstream>

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Classes
struct	miqp::quadruped::DecVars
struct	miqp::quadruped::DecVars_res_raw
struct	miqp::quadruped::DecVars_res

Namespaces
	miqp
	miqp::quadruped

Enumerations
enum	miqp::quadruped::Leg { miqp::quadruped::front_left , miqp::quadruped::front_right , miqp::quadruped::rear_left , miqp::quadruped::rear_right }

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::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::theta_limits (drake::solvers::MathematicalProgram &prog, int n_steps, int n_legs, 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::writeDecVarsToFile (DecVars_res &decision_variables, std::string base_name="footstep_planner")
void	miqp::quadruped::writeMatToFile (Eigen::MatrixXd &mat, std::string filename)