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