Drake
GlobalInverseKinematics Member List

This is the complete list of members for GlobalInverseKinematics, including all inherited members.

AddBoundingBoxConstraint(const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, const VariableRefList &vars)MathematicalPrograminline
AddBoundingBoxConstraint(const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddBoundingBoxConstraint(double lb, double ub, const symbolic::Variable &var)MathematicalPrograminline
AddBoundingBoxConstraint(double lb, double ub, const VariableRefList &vars)MathematicalPrograminline
AddBoundingBoxConstraint(double lb, double ub, const Eigen::MatrixBase< Derived > &vars)MathematicalPrograminline
AddBoundingBoxConstraint(double lb, double ub, const Eigen::MatrixBase< Derived > &vars)MathematicalPrograminline
AddConstraint(const Binding< Constraint > &binding)MathematicalProgram
AddConstraint(std::shared_ptr< C > con, const VariableRefList &vars)MathematicalPrograminline
AddConstraint(std::shared_ptr< C > con, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalPrograminline
AddConstraint(const Binding< LinearConstraint > &binding)MathematicalProgram
AddConstraint(const Binding< LinearEqualityConstraint > &binding)MathematicalProgram
AddConstraint(const Binding< BoundingBoxConstraint > &binding)MathematicalProgram
AddConstraint(const Binding< LorentzConeConstraint > &binding)MathematicalProgram
AddConstraint(const Binding< RotatedLorentzConeConstraint > &binding)MathematicalProgram
AddConstraint(const Binding< LinearComplementarityConstraint > &binding)MathematicalProgram
AddConstraint(const Binding< PositiveSemidefiniteConstraint > &binding)MathematicalProgram
AddConstraint(std::shared_ptr< PositiveSemidefiniteConstraint > con, const Eigen::Ref< const MatrixXDecisionVariable > &symmetric_matrix_var)MathematicalProgram
AddConstraint(const Binding< LinearMatrixInequalityConstraint > &binding)MathematicalProgram
AddCost(const Binding< Cost > &binding)MathematicalProgram
AddCost(const std::shared_ptr< C > &obj, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalPrograminline
AddCost(const std::shared_ptr< C > &obj, const VariableRefList &vars)MathematicalPrograminline
AddCost(F &&f, const VariableRefList &vars)MathematicalPrograminline
AddCost(F &&f, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalPrograminline
AddCost(F &&, Vars &&)MathematicalPrograminline
AddCost(const Binding< LinearCost > &binding)MathematicalProgram
AddCost(const Binding< QuadraticCost > &binding)MathematicalProgram
AddCost(const symbolic::Expression &e)MathematicalProgram
AddJointLimitConstraint(int body_index, double joint_lower_bound, double joint_upper_bound)GlobalInverseKinematics
AddL2NormCost(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const VariableRefList &vars)MathematicalPrograminline
AddL2NormCost(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalPrograminline
AddLinearComplementarityConstraint(const Eigen::Ref< const Eigen::MatrixXd > &M, const Eigen::Ref< const Eigen::VectorXd > &q, const VariableRefList &vars)MathematicalPrograminline
AddLinearComplementarityConstraint(const Eigen::Ref< const Eigen::MatrixXd > &M, const Eigen::Ref< const Eigen::VectorXd > &q, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLinearConstraint(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, const VariableRefList &vars)MathematicalPrograminline
AddLinearConstraint(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLinearConstraint(const Eigen::Ref< const Eigen::RowVectorXd > &a, double lb, double ub, const VariableRefList &vars)MathematicalPrograminline
AddLinearConstraint(const Eigen::Ref< const Eigen::RowVectorXd > &a, double lb, double ub, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalPrograminline
AddLinearConstraint(const symbolic::Expression &e, double lb, double ub)MathematicalProgram
AddLinearConstraint(const Eigen::Ref< const VectorX< symbolic::Expression >> &v, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)MathematicalProgram
AddLinearConstraint(const symbolic::Formula &f)MathematicalProgram
AddLinearConstraint(const Eigen::ArrayBase< Derived > &formulas)MathematicalPrograminline
AddLinearCost(const symbolic::Expression &e)MathematicalProgram
AddLinearCost(const Eigen::Ref< const Eigen::VectorXd > &a, double b, const VariableRefList &vars)MathematicalPrograminline
AddLinearCost(const Eigen::Ref< const Eigen::VectorXd > &a, double b, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLinearCost(const Eigen::Ref< const Eigen::VectorXd > &a, const VarType &vars)MathematicalPrograminline
AddLinearEqualityConstraint(const symbolic::Expression &e, double b)MathematicalProgram
AddLinearEqualityConstraint(const symbolic::Formula &f)MathematicalProgram
AddLinearEqualityConstraint(const Eigen::MatrixBase< DerivedV > &v, const Eigen::MatrixBase< DerivedB > &b)MathematicalPrograminline
AddLinearEqualityConstraint(const Eigen::MatrixBase< DerivedV > &V, const Eigen::MatrixBase< DerivedB > &B, bool lower_triangle=false)MathematicalPrograminline
AddLinearEqualityConstraint(const Eigen::Ref< const Eigen::MatrixXd > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq, const VariableRefList &vars)MathematicalPrograminline
AddLinearEqualityConstraint(const Eigen::Ref< const Eigen::MatrixXd > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLinearEqualityConstraint(const Eigen::Ref< const Eigen::RowVectorXd > &a, double beq, const VariableRefList &vars)MathematicalPrograminline
AddLinearEqualityConstraint(const Eigen::Ref< const Eigen::RowVectorXd > &a, double beq, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalPrograminline
AddLinearMatrixInequalityConstraint(const std::vector< Eigen::Ref< const Eigen::MatrixXd >> &F, const VariableRefList &vars)MathematicalPrograminline
AddLinearMatrixInequalityConstraint(const std::vector< Eigen::Ref< const Eigen::MatrixXd >> &F, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLorentzConeConstraint(const Eigen::Ref< const VectorX< symbolic::Expression >> &v)MathematicalProgram
AddLorentzConeConstraint(const symbolic::Expression &v1, const symbolic::Expression &v2)MathematicalProgram
AddLorentzConeConstraint(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const VariableRefList &vars)MathematicalPrograminline
AddLorentzConeConstraint(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLorentzConeConstraint(const VariableRefList &vars)MathematicalPrograminline
AddLorentzConeConstraint(const Eigen::MatrixBase< VectorDecisionVariable< rows >> &vars)MathematicalPrograminline
AddPolynomialConstraint(const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub, const VariableRefList &vars)MathematicalPrograminline
AddPolynomialConstraint(const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddPolynomialCost(const symbolic::Expression &e)MathematicalProgram
AddPositiveSemidefiniteConstraint(const Eigen::Ref< const MatrixXDecisionVariable > &symmetric_matrix_var)MathematicalProgram
AddPositiveSemidefiniteConstraint(const Eigen::MatrixBase< Derived > &e)MathematicalPrograminline
AddPostureCost(const Eigen::Ref< const Eigen::VectorXd > &q_desired, const Eigen::Ref< const Eigen::VectorXd > &body_position_cost, const Eigen::Ref< const Eigen::VectorXd > &body_orientation_cost)GlobalInverseKinematics
AddQuadraticCost(const symbolic::Expression &e)MathematicalProgram
AddQuadraticCost(const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::VectorXd > &b, const VariableRefList &vars)MathematicalPrograminline
AddQuadraticCost(const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::VectorXd > &b, double c, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddQuadraticCost(const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddQuadraticErrorCost(const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::VectorXd > &x_desired, const VariableRefList &vars)MathematicalPrograminline
AddQuadraticErrorCost(const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::VectorXd > &x_desired, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddRotatedLorentzConeConstraint(const Eigen::Ref< const VectorX< symbolic::Expression >> &v)MathematicalProgram
AddRotatedLorentzConeConstraint(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const VariableRefList &vars)MathematicalPrograminline
AddRotatedLorentzConeConstraint(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddRotatedLorentzConeConstraint(const VariableRefList &vars)MathematicalPrograminline
AddRotatedLorentzConeConstraint(const Eigen::MatrixBase< VectorDecisionVariable< rows >> &vars)MathematicalPrograminline
AddSosConstraint(const symbolic::Polynomial &p)MathematicalProgram
AddSosConstraint(const symbolic::Expression &e)MathematicalProgram
AddWorldOrientationConstraint(int body_idx, const Eigen::Quaterniond &desired_orientation, double angle_tol)GlobalInverseKinematics
AddWorldPositionConstraint(int body_idx, const Eigen::Vector3d &p_BQ, const Eigen::Vector3d &box_lb_F, const Eigen::Vector3d &box_ub_F, const Eigen::Isometry3d &X_WF=Eigen::Isometry3d::Identity())GlobalInverseKinematics
body_position(int body_index) const GlobalInverseKinematics
body_rotation_matrix(int body_index) const GlobalInverseKinematics
BodyPointInOneOfRegions(int body_index, const Eigen::Ref< const Eigen::Vector3d > &p_BQ, const std::vector< Eigen::Matrix3Xd > &region_vertices)GlobalInverseKinematics
bounding_box_constraints() const MathematicalPrograminline
decision_variable(int i) const MathematicalPrograminline
decision_variables() const MathematicalPrograminline
EvalBindingAtSolution(const Binding< C > &binding) const MathematicalPrograminline
FindDecisionVariableIndex(const symbolic::Variable &var) const MathematicalProgram
FindIndeterminateIndex(const symbolic::Variable &var) const MathematicalProgram
generic_constraints() const MathematicalPrograminline
generic_costs() const MathematicalPrograminline
GetAllCosts() const MathematicalPrograminline
GetAllLinearConstraints() const MathematicalPrograminline
GetLowerBoundCost() const MathematicalPrograminline
GetOptimalCost() const MathematicalPrograminline
GetSolution(const Eigen::MatrixBase< Derived > &var) const MathematicalPrograminline
GetSolution(const symbolic::Variable &var) const MathematicalProgram
GetSolverData()MathematicalPrograminline
GetSolverId() const MathematicalPrograminline
GetSolverOptionsDouble(const SolverId &solver_id)MathematicalPrograminline
GetSolverOptionsInt(const SolverId &solver_id)MathematicalPrograminline
GetSolverOptionsStr(const SolverId &solver_id)MathematicalPrograminline
GlobalInverseKinematics(const GlobalInverseKinematics &)=deleteGlobalInverseKinematics
GlobalInverseKinematics(GlobalInverseKinematics &&)=deleteGlobalInverseKinematics
GlobalInverseKinematics(const RigidBodyTreed &robot, int num_binary_vars_per_half_axis=2)GlobalInverseKinematics
indeterminate(int i) const MathematicalPrograminline
indeterminates() const MathematicalPrograminline
initial_guess() const MathematicalPrograminline
linear_complementarity_constraints() const MathematicalPrograminline
linear_constraints() const MathematicalPrograminline
linear_costs() const MathematicalPrograminline
linear_equality_constraints() const MathematicalPrograminline
linear_matrix_inequality_constraints() const MathematicalPrograminline
lorentz_cone_constraints() const MathematicalPrograminline
MakeCost(F &&f)MathematicalPrograminlinestatic
MathematicalProgram(const MathematicalProgram &)=deleteMathematicalProgram
MathematicalProgram(MathematicalProgram &&)=deleteMathematicalProgram
MathematicalProgram()MathematicalProgram
NewBinaryVariables(int rows, int cols, const std::string &name)MathematicalPrograminline
NewBinaryVariables(const std::string &name="b")MathematicalPrograminline
NewBinaryVariables(int rows, const std::string &name="b")MathematicalPrograminline
NewContinuousVariables(int rows, const std::string &name="x")MathematicalPrograminline
NewContinuousVariables(int rows, int cols, const std::string &name)MathematicalPrograminline
NewContinuousVariables(const std::string &name="X")MathematicalPrograminline
NewFreePolynomial(const symbolic::Variables &indeterminates, int degree, const std::string &coeff_name="a")MathematicalProgram
NewIndeterminates(const std::array< std::string, rows *cols > &names)MathematicalPrograminline
NewIndeterminates(const std::array< std::string, rows > &names)MathematicalPrograminline
NewIndeterminates(const std::string &name="X")MathematicalPrograminline
NewIndeterminates(const std::string &name="x")MathematicalPrograminline
NewIndeterminates(int rows, const std::vector< std::string > &names)MathematicalProgram
NewIndeterminates(int rows, const std::string &name="x")MathematicalProgram
NewIndeterminates(int rows, int cols, const std::vector< std::string > &names)MathematicalProgram
NewIndeterminates(int rows, int cols, const std::string &name="X")MathematicalProgram
NewSosPolynomial(const symbolic::Variables &indeterminates, int degree)MathematicalProgram
NewSymmetricContinuousVariables(int rows, const std::string &name="Symmetric")MathematicalProgram
NewSymmetricContinuousVariables(const std::string &name="Symmetric")MathematicalPrograminline
num_indeterminates() const MathematicalPrograminline
num_vars() const MathematicalPrograminline
operator=(const GlobalInverseKinematics &)=deleteGlobalInverseKinematics
operator=(GlobalInverseKinematics &&)=deleteGlobalInverseKinematics
drake::solvers::MathematicalProgram::operator=(const MathematicalProgram &)=deleteMathematicalProgram
drake::solvers::MathematicalProgram::operator=(MathematicalProgram &&)=deleteMathematicalProgram
positive_semidefinite_constraints() const MathematicalPrograminline
PrintSolution()MathematicalPrograminline
quadratic_costs() const MathematicalPrograminline
ReconstructGeneralizedPositionSolution() const GlobalInverseKinematics
rotated_lorentz_cone_constraints() const MathematicalPrograminline
SetDecisionVariableValue(const symbolic::Variable &var, double value)MathematicalProgram
SetDecisionVariableValues(const Eigen::Ref< const Eigen::VectorXd > &values)MathematicalProgram
SetDecisionVariableValues(const Eigen::Ref< const VectorXDecisionVariable > &variables, const Eigen::Ref< const Eigen::VectorXd > &values)MathematicalProgram
SetInitialGuess(const Eigen::MatrixBase< DerivedA > &decision_variable_mat, const Eigen::MatrixBase< DerivedB > &x0)MathematicalPrograminline
SetInitialGuessForAllVariables(const Eigen::MatrixBase< Derived > &x0)MathematicalPrograminline
SetLowerBoundCost(double lower_bound_cost)MathematicalPrograminline
SetOptimalCost(double optimal_cost)MathematicalPrograminline
SetSolverId(SolverId solver_id)MathematicalPrograminline
SetSolverOption(const SolverId &solver_id, const std::string &solver_option, double option_value)MathematicalPrograminline
SetSolverOption(const SolverId &solver_id, const std::string &solver_option, int option_value)MathematicalPrograminline
SetSolverOption(const SolverId &solver_id, const std::string &solver_option, const std::string &option_value)MathematicalPrograminline
Solve()MathematicalProgram
VarType typedefMathematicalProgram
~GlobalInverseKinematics() overrideGlobalInverseKinematicsinline
~MathematicalProgram()MathematicalPrograminlinevirtual