miqp::waypoint Namespace Reference

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

Enumeration Type Documentation

Leg

enum miqp::waypoint::Leg

Enumerator
front_left
front_right
rear_left
rear_right

Definition at line 23 of file miqp_waypoint.h.

Function Documentation

add_decision_variables()

DecVars miqp::waypoint::add_decision_variables	(	drake::solvers::MathematicalProgram &	prog,
		Terrain &	terrain,
		int	n_points
	)

Definition at line 20 of file miqp_waypoint.cpp.

set_initial_and_goal_position()

void miqp::waypoint::set_initial_and_goal_position	(	drake::solvers::MathematicalProgram &	prog,
		Eigen::Vector2d &	initial_center,
		Eigen::Vector2d &	goal_center,
		DecVars &	decision_variables
	)

Definition at line 56 of file miqp_waypoint.cpp.

relative_position_limits()

void miqp::waypoint::relative_position_limits	(	drake::solvers::MathematicalProgram &	prog,
		int	n_points,
		double	wp_dist,
		DecVars &	decision_variables
	)

Definition at line 71 of file miqp_waypoint.cpp.

geometry_limits()

void miqp::waypoint::geometry_limits	(	drake::solvers::MathematicalProgram &	prog,
		int	n_points,
		double	length_legs,
		double	bbox_len,
		DecVars &	decision_variables
	)

Definition at line 83 of file miqp_waypoint.cpp.

theta_limits()

void miqp::waypoint::theta_limits	(	drake::solvers::MathematicalProgram &	prog,
		int	n_points,
		DecVars &	decision_variables
	)

Definition at line 144 of file miqp_waypoint.cpp.

one_stone_per_foot()

void miqp::waypoint::one_stone_per_foot	(	drake::solvers::MathematicalProgram &	prog,
		int	n_points,
		DecVars &	decision_variables
	)

Definition at line 206 of file miqp_waypoint.cpp.

writeMatToFile()

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

Definition at line 323 of file miqp_waypoint.cpp.

writeDecVarsToFile()

void miqp::waypoint::writeDecVarsToFile	(	DecVars_res &	decision_variables,
		std::string	base_name
	)

Definition at line 344 of file miqp_waypoint.cpp.

get_big_M()

Eigen::Vector4d miqp::waypoint::get_big_M

(

Terrain

terrain

)

Definition at line 226 of file miqp_waypoint.cpp.

foot_in_stepping_stone()

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

Definition at line 242 of file miqp_waypoint.cpp.

minimize_step_length()

void miqp::waypoint::minimize_step_length	(	drake::solvers::MathematicalProgram &	prog,
		int	n_points,
		DecVars &	decision_variables
	)

Definition at line 285 of file miqp_waypoint.cpp.

minimize_theta_change()

void miqp::waypoint::minimize_theta_change	(	drake::solvers::MathematicalProgram &	prog,
		int	n_points,
		DecVars &	decision_variables
	)

Definition at line 299 of file miqp_waypoint.cpp.