Tetrapod Project
miqp_waypoint.h File Reference
#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::waypoint::DecVars
 
struct  miqp::waypoint::DecVars_res
 

Namespaces

 miqp
 
 miqp::waypoint
 

Enumerations

enum  miqp::waypoint::Leg { miqp::waypoint::front_left , miqp::waypoint::front_right , miqp::waypoint::rear_left , miqp::waypoint::rear_right }
 

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)
 
void miqp::waypoint::writeMatToFile (Eigen::MatrixXd &mat, std::string filename)
 
void miqp::waypoint::writeDecVarsToFile (DecVars_res &decision_variables, std::string base_name)
 
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)