Drake
AddRotationMatrixBoxSphereIntersectionReturn Struct Reference

Some of the newly added variables in function AddRotationMatrixBoxSphereIntersectionMilpConstraints. More...

#include <drake/solvers/mixed_integer_rotation_constraint.h>

Collaboration diagram for AddRotationMatrixBoxSphereIntersectionReturn:
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Public Attributes

std::vector< Matrix3< symbolic::Expression > > CRpos
 
std::vector< Matrix3< symbolic::Expression > > CRneg
 
std::vector< Matrix3< symbolic::Variable > > BRpos
 
std::vector< Matrix3< symbolic::Variable > > BRneg
 

Detailed Description

Some of the newly added variables in function AddRotationMatrixBoxSphereIntersectionMilpConstraints.

CRpos, CRneg, BRpos and BRneg can only take value 0 or 1. CRpos and CRneg are declared as continuous variables, while BRpos and BRneg are declared as binary variables. The definition for these variables are

  CRpos[k](i, j) = 1 => k / N <= R(i, j) <= (k+1) / N
  CRneg[k](i, j) = 1 => -(k+1) / N <= R(i, j) <= -k / N
  BRpos[k](i, j) = 1 => R(i, j) >= k / N
  BRneg[k](i, j) = 1 => R(i, j) <= -k / N

where N is num_intervals_per_half_axis, one of the input argument of AddRotationMatrixBoxSphereIntersectionMilpConstraints.

Member Data Documentation


The documentation for this struct was generated from the following file: