miqp::quadruped Namespace Reference

Classes
struct	DecVars
struct	DecVars_res_raw
struct	DecVars_res

Enumerations
enum	Leg { front_left , front_right , rear_left , rear_right }

Functions
DecVars	add_decision_variables (drake::solvers::MathematicalProgram &prog, Terrain &terrain, int n_steps, int n_legs)
void	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	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	theta_limits (drake::solvers::MathematicalProgram &prog, int n_steps, int n_legs, DecVars &decision_variables)
void	relative_position_limits (drake::solvers::MathematicalProgram &prog, int n_steps, int n_legs, double step_span, double step_height, 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, int n_legs, DecVars &decision_variables)
void	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 >	get_uncompressed_arrays (Eigen::MatrixXd &arr, Eigen::MatrixXd &sequence_offset, int n_steps, int n_legs, Leg step_sequence[])
DecVars_res	get_decvars_res (DecVars_res_raw &decision_variables_raw, int n_steps, int n_legs, Leg step_sequence[])
void	writeDecVarsToFile (DecVars_res &decision_variables, std::string base_name="footstep_planner")
void	writeMatToFile (Eigen::MatrixXd &mat, std::string filename)

Enumeration Type Documentation

Leg

enum miqp::quadruped::Leg

Enumerator
front_left
front_right
rear_left
rear_right

Definition at line 26 of file miqp_quadruped.h.

Function Documentation

add_decision_variables()

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

Definition at line 22 of file miqp_quadruped.cpp.

set_initial_and_goal_position()

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
	)

Definition at line 47 of file miqp_quadruped.cpp.

geometry_limits()

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
	)

Definition at line 190 of file miqp_quadruped.cpp.

theta_limits()

void miqp::quadruped::theta_limits	(	drake::solvers::MathematicalProgram &	prog,
		int	n_steps,
		int	n_legs,
		DecVars &	decision_variables
	)

Definition at line 132 of file miqp_quadruped.cpp.

relative_position_limits()

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
	)

Definition at line 230 of file miqp_quadruped.cpp.

one_stone_per_foot()

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

Definition at line 250 of file miqp_quadruped.cpp.

get_big_M()

Eigen::Vector4d miqp::quadruped::get_big_M

(

Terrain

terrain

)

Definition at line 257 of file miqp_quadruped.cpp.

foot_in_stepping_stone()

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

Definition at line 274 of file miqp_quadruped.cpp.

minimize_step_length()

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

Definition at line 308 of file miqp_quadruped.cpp.

minimize_remaining_length()

void miqp::quadruped::minimize_remaining_length	(	drake::solvers::MathematicalProgram &	prog,
		Terrain &	terrain,
		int	n_steps,
		int	n_legs,
		DecVars &	decision_variables
	)

Definition at line 322 of file miqp_quadruped.cpp.

get_uncompressed_arrays()

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[]
	)

Definition at line 337 of file miqp_quadruped.cpp.

get_decvars_res()

DecVars_res miqp::quadruped::get_decvars_res	(	DecVars_res_raw &	decision_variables_raw,
		int	n_steps,
		int	n_legs,
		Leg	step_sequence[]
	)

Definition at line 382 of file miqp_quadruped.cpp.

writeDecVarsToFile()

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

Definition at line 436 of file miqp_quadruped.cpp.

writeMatToFile()

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

Definition at line 415 of file miqp_quadruped.cpp.