miqp_waypoint.cpp File Reference

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

Include dependency graph for miqp_waypoint.cpp:

Go to the source code of this file.

Namespaces
	miqp
	miqp::waypoint

Macros
#define	_USE_MATH_DEFINES

Functions
DecVars	miqp::waypoint::add_decision_variables (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_points)
void	miqp::waypoint::set_initial_and_goal_position (drake::solvers::MathematicalProgram &prog, Eigen::Vector2d &initial_center, Eigen::Vector2d &goal_center, DecVars &decision_variables)
void	miqp::waypoint::relative_position_limits (drake::solvers::MathematicalProgram &prog, int n_points, double wp_dist, DecVars &decision_variables)
void	miqp::waypoint::geometry_limits (drake::solvers::MathematicalProgram &prog, int n_points, double length_legs, double bbox_len, DecVars &decision_variables)
void	miqp::waypoint::theta_limits (drake::solvers::MathematicalProgram &prog, int n_points, DecVars &decision_variables)
void	miqp::waypoint::one_stone_per_foot (drake::solvers::MathematicalProgram &prog, int n_points, DecVars &decision_variables)
Eigen::Vector4d	miqp::waypoint::get_big_M (Terrain terrain)
void	miqp::waypoint::foot_in_stepping_stone (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_points, DecVars &decision_variables)
void	miqp::waypoint::minimize_step_length (drake::solvers::MathematicalProgram &prog, int n_points, DecVars &decision_variables)
void	miqp::waypoint::minimize_theta_change (drake::solvers::MathematicalProgram &prog, int n_points, DecVars &decision_variables)
void	miqp::waypoint::writeMatToFile (Eigen::MatrixXd &mat, std::string filename)
void	miqp::waypoint::writeDecVarsToFile (DecVars_res &decision_variables, std::string base_name)

Macro Definition Documentation

_USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Definition at line 9 of file miqp_waypoint.cpp.