miqp::biped Namespace Reference

Classes
struct	DecVars
struct	DecVars_res

Functions
DecVars	add_decision_variables (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps)
void	set_initial_and_goal_position (drake::solvers::MathematicalProgram &prog, Terrain &terrain, DecVars &decision_variables)
void	relative_position_limits (drake::solvers::MathematicalProgram &prog, int n_steps, double step_span, DecVars &decision_variables)
void	step_sequence (drake::solvers::MathematicalProgram &prog, int n_steps, double step_span, DecVars &decision_variables)
void	one_stone_per_foot (drake::solvers::MathematicalProgram &prog, int n_steps, DecVars &decision_variables)
Eigen::Vector4d	get_big_M (Terrain terrain)
void	foot_in_stepping_stone (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps, DecVars &decision_variables)
void	minimize_step_length (drake::solvers::MathematicalProgram &prog, int n_steps, DecVars &decision_variables)
void	writeMatToFile (Eigen::MatrixXd &mat, std::string filename)
void	writeDecVarsToFile (DecVars_res &decision_variables, std::string base_name="footstep_planner")
void	relative_position_limits (drake::solvers::MathematicalProgram &prog, int n_steps, double step_span, double step_height, DecVars &decision_variables)

Function Documentation

add_decision_variables()

DecVars miqp::biped::add_decision_variables	(	drake::solvers::MathematicalProgram &	prog,
		Terrain &	terrain,
		int	n_steps
	)

Definition at line 13 of file miqp_biped.cpp.

set_initial_and_goal_position()

void miqp::biped::set_initial_and_goal_position	(	drake::solvers::MathematicalProgram &	prog,
		Terrain &	terrain,
		DecVars &	decision_variables
	)

Definition at line 34 of file miqp_biped.cpp.

relative_position_limits() [1/2]

void miqp::biped::relative_position_limits	(	drake::solvers::MathematicalProgram &	prog,
		int	n_steps,
		double	step_span,
		DecVars &	decision_variables
	)

step_sequence()

void miqp::biped::step_sequence	(	drake::solvers::MathematicalProgram &	prog,
		int	n_steps,
		double	step_span,
		DecVars &	decision_variables
	)

Definition at line 93 of file miqp_biped.cpp.

one_stone_per_foot()

void miqp::biped::one_stone_per_foot	(	drake::solvers::MathematicalProgram &	prog,
		int	n_steps,
		DecVars &	decision_variables
	)

Definition at line 137 of file miqp_biped.cpp.

get_big_M()

Eigen::Vector4d miqp::biped::get_big_M

(

Terrain

terrain

)

Definition at line 150 of file miqp_biped.cpp.

foot_in_stepping_stone()

void miqp::biped::foot_in_stepping_stone	(	drake::solvers::MathematicalProgram &	prog,
		Terrain &	terrain,
		int	n_steps,
		DecVars &	decision_variables
	)

Definition at line 167 of file miqp_biped.cpp.

minimize_step_length()

void miqp::biped::minimize_step_length	(	drake::solvers::MathematicalProgram &	prog,
		int	n_steps,
		DecVars &	decision_variables
	)

Definition at line 218 of file miqp_biped.cpp.

writeMatToFile()

void miqp::biped::writeMatToFile	(	Eigen::MatrixXd &	mat,
		std::string	filename
	)

Definition at line 242 of file miqp_biped.cpp.

writeDecVarsToFile()

void miqp::biped::writeDecVarsToFile	(	DecVars_res &	decision_variables,
		std::string	base_name = "footstep_planner"
	)

Definition at line 263 of file miqp_biped.cpp.

relative_position_limits() [2/2]

void miqp::biped::relative_position_limits	(	drake::solvers::MathematicalProgram &	prog,
		int	n_steps,
		double	step_span,
		double	step_height,
		DecVars &	decision_variables
	)

Definition at line 73 of file miqp_biped.cpp.