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)MathematicalProgram
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)MathematicalProgram
AddBoundingBoxConstraint(double lb, double ub, const VariableRefList &vars)MathematicalProgram
AddBoundingBoxConstraint(double lb, double ub, const Eigen::MatrixBase< Derived > &vars)MathematicalProgram
AddBoundingBoxConstraint(double lb, double ub, const Eigen::MatrixBase< Derived > &vars)MathematicalProgram
AddConstraint(const Binding< Constraint > &binding)MathematicalProgram
AddConstraint(const symbolic::Expression &e, double lb, double ub)MathematicalProgram
AddConstraint(const Eigen::Ref< const VectorX< symbolic::Expression >> &v, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)MathematicalProgram
AddConstraint(const symbolic::Formula &f)MathematicalProgram
AddConstraint(const Eigen::ArrayBase< Derived > &formulas)MathematicalProgram
AddConstraint(std::shared_ptr< C > con, const VariableRefList &vars)MathematicalProgram
AddConstraint(std::shared_ptr< C > con, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
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
AddConstraint(const Binding< ExponentialConeConstraint > &binding)MathematicalProgram
AddCost(const Binding< Cost > &binding)MathematicalProgram
AddCost(const std::shared_ptr< C > &obj, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddCost(const std::shared_ptr< C > &obj, const VariableRefList &vars)MathematicalProgram
AddCost(F &&f, const VariableRefList &vars)MathematicalProgram
AddCost(F &&f, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddCost(F &&, Vars &&)MathematicalProgram
AddCost(const Binding< LinearCost > &binding)MathematicalProgram
AddCost(const Binding< QuadraticCost > &binding)MathematicalProgram
AddCost(const symbolic::Expression &e)MathematicalProgram
AddDecisionVariables(const Eigen::Ref< const VectorXDecisionVariable > &decision_variables)MathematicalProgram
AddEqualityConstraintBetweenPolynomials(const symbolic::Polynomial &p1, const symbolic::Polynomial &p2)MathematicalProgram
AddExponentialConeConstraint(const Eigen::Ref< const Eigen::SparseMatrix< double >> &A, const Eigen::Ref< const Eigen::Vector3d > &b, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddExponentialConeConstraint(const Eigen::Ref< const Vector3< symbolic::Expression >> &z)MathematicalProgram
AddIndeterminates(const Eigen::Ref< const VectorXIndeterminate > &new_indeterminates)MathematicalProgram
AddJointLimitConstraint(int body_index, double joint_lower_bound, double joint_upper_bound, bool linear_constraint_approximation=false)GlobalInverseKinematics
AddL2NormCost(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const VariableRefList &vars)MathematicalProgram
AddL2NormCost(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLinearComplementarityConstraint(const Eigen::Ref< const Eigen::MatrixXd > &M, const Eigen::Ref< const Eigen::VectorXd > &q, const VariableRefList &vars)MathematicalProgram
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)MathematicalProgram
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)MathematicalProgram
AddLinearConstraint(const Eigen::Ref< const Eigen::RowVectorXd > &a, double lb, double ub, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
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)MathematicalProgram
AddLinearCost(const symbolic::Expression &e)MathematicalProgram
AddLinearCost(const Eigen::Ref< const Eigen::VectorXd > &a, double b, const VariableRefList &vars)MathematicalProgram
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)MathematicalProgram
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)MathematicalProgram
AddLinearEqualityConstraint(const Eigen::MatrixBase< DerivedV > &V, const Eigen::MatrixBase< DerivedB > &B, bool lower_triangle=false)MathematicalProgram
AddLinearEqualityConstraint(const Eigen::Ref< const Eigen::MatrixXd > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq, const VariableRefList &vars)MathematicalProgram
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)MathematicalProgram
AddLinearEqualityConstraint(const Eigen::Ref< const Eigen::RowVectorXd > &a, double beq, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddLinearMatrixInequalityConstraint(const std::vector< Eigen::Ref< const Eigen::MatrixXd >> &F, const VariableRefList &vars)MathematicalProgram
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 &linear_expression, const symbolic::Expression &quadratic_expression, double tol=0)MathematicalProgram
AddLorentzConeConstraint(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const VariableRefList &vars)MathematicalProgram
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)MathematicalProgram
AddLorentzConeConstraint(const Eigen::MatrixBase< VectorDecisionVariable< rows >> &vars)MathematicalProgram
AddMaximizeGeometricMeanCost(const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const VectorX< symbolic::Variable >> &x)MathematicalProgram
AddMaximizeGeometricMeanCost(const Eigen::Ref< const VectorX< symbolic::Variable >> &x, double c=1.0)MathematicalProgram
AddMaximizeLogDeterminantSymmetricMatrixCost(const Eigen::Ref< const MatrixX< symbolic::Expression >> &X)MathematicalProgram
AddPolynomialConstraint(const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub, const VariableRefList &vars)MathematicalProgram
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
AddPositiveDiagonallyDominantMatrixConstraint(const Eigen::Ref< const MatrixX< symbolic::Expression >> &X)MathematicalProgram
AddPositiveSemidefiniteConstraint(const Eigen::Ref< const MatrixXDecisionVariable > &symmetric_matrix_var)MathematicalProgram
AddPositiveSemidefiniteConstraint(const Eigen::MatrixBase< Derived > &e)MathematicalProgram
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)MathematicalProgram
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)MathematicalProgram
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 symbolic::Expression &linear_expression1, const symbolic::Expression &linear_expression2, const symbolic::Expression &quadratic_expression, double tol=0)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)MathematicalProgram
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)MathematicalProgram
AddRotatedLorentzConeConstraint(const Eigen::MatrixBase< VectorDecisionVariable< rows >> &vars)MathematicalProgram
AddScaledDiagonallyDominantMatrixConstraint(const Eigen::Ref< const MatrixX< symbolic::Expression >> &X)MathematicalProgram
AddScaledDiagonallyDominantMatrixConstraint(const Eigen::Ref< const MatrixX< symbolic::Variable >> &X)MathematicalProgram
AddSosConstraint(const symbolic::Polynomial &p, const Eigen::Ref< const VectorX< symbolic::Monomial >> &monomial_basis)MathematicalProgram
AddSosConstraint(const symbolic::Polynomial &p)MathematicalProgram
AddSosConstraint(const symbolic::Expression &e, const Eigen::Ref< const VectorX< symbolic::Monomial >> &monomial_basis)MathematicalProgram
AddSosConstraint(const symbolic::Expression &e)MathematicalProgram
AddVisualizationCallback(const VisualizationCallback::CallbackFunction &callback, const Eigen::Ref< const VectorXDecisionVariable > &vars)MathematicalProgram
AddVisualizationCallback(const VisualizationCallback::CallbackFunction &callback, const VariableRefList &vars)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) constGlobalInverseKinematics
body_rotation_matrix(int body_index) constGlobalInverseKinematics
BodyPointInOneOfRegions(int body_index, const Eigen::Ref< const Eigen::Vector3d > &p_BQ, const std::vector< Eigen::Matrix3Xd > &region_vertices)GlobalInverseKinematics
BodySphereInOneOfPolytopes(int body_index, const Eigen::Ref< const Eigen::Vector3d > &p_BQ, double radius, const std::vector< Polytope3D > &polytopes)GlobalInverseKinematics
bounding_box_constraints() constMathematicalProgram
Clone() constMathematicalProgram
decision_variable(int i) constMathematicalProgram
decision_variable_index() constMathematicalProgram
decision_variables() constMathematicalProgram
EvalBinding(const Binding< C > &binding, const Eigen::MatrixBase< DerivedX > &prog_var_vals) constMathematicalProgram
EvalBindingAtInitialGuess(const Binding< C > &binding) constMathematicalProgram
EvalBindings(const std::vector< Binding< C >> &bindings, const Eigen::MatrixBase< DerivedX > &prog_var_vals) constMathematicalProgram
EvalVisualizationCallbacks(const Eigen::Ref< const Eigen::VectorXd > &prog_var_vals) constMathematicalProgram
exponential_cone_constraints() constMathematicalProgram
FindDecisionVariableIndex(const symbolic::Variable &var) constMathematicalProgram
FindDecisionVariableIndices(const Eigen::Ref< const VectorXDecisionVariable > &vars) constMathematicalProgram
FindIndeterminateIndex(const symbolic::Variable &var) constMathematicalProgram
generic_constraints() constMathematicalProgram
generic_costs() constMathematicalProgram
GetAllConstraints() constMathematicalProgram
GetAllCosts() constMathematicalProgram
GetAllLinearConstraints() constMathematicalProgram
GetInitialGuess(const symbolic::Variable &decision_variable) constMathematicalProgram
GetInitialGuess(const Eigen::MatrixBase< Derived > &decision_variable_mat) constMathematicalProgram
GetSolverOptionsDouble(const SolverId &solver_id) constMathematicalProgram
GetSolverOptionsInt(const SolverId &solver_id) constMathematicalProgram
GetSolverOptionsStr(const SolverId &solver_id) constMathematicalProgram
GlobalInverseKinematics(const GlobalInverseKinematics &)=deleteGlobalInverseKinematics
GlobalInverseKinematics(GlobalInverseKinematics &&)=deleteGlobalInverseKinematics
GlobalInverseKinematics(const RigidBodyTreed &robot, const Options &options=Options())GlobalInverseKinematicsexplicit
indeterminate(int i) constMathematicalProgram
indeterminates() constMathematicalProgram
initial_guess() constMathematicalProgram
kGlobalInfeasibleCostMathematicalProgramstatic
kUnboundedCostMathematicalProgramstatic
linear_complementarity_constraints() constMathematicalProgram
linear_constraints() constMathematicalProgram
linear_costs() constMathematicalProgram
linear_equality_constraints() constMathematicalProgram
linear_matrix_inequality_constraints() constMathematicalProgram
lorentz_cone_constraints() constMathematicalProgram
MakeCost(F &&f)MathematicalProgramstatic
MathematicalProgram(const MathematicalProgram &)=deleteMathematicalProgram
MathematicalProgram(MathematicalProgram &&)=deleteMathematicalProgram
MathematicalProgram()MathematicalProgram
NewBinaryVariables(int rows, int cols, const std::string &name)MathematicalProgram
NewBinaryVariables(const std::string &name="b")MathematicalProgram
NewBinaryVariables(int rows, const std::string &name="b")MathematicalProgram
NewContinuousVariables(int rows, const std::string &name="x")MathematicalProgram
NewContinuousVariables(int rows, int cols, const std::string &name="X")MathematicalProgram
NewContinuousVariables(const std::string &name="X")MathematicalProgram
NewFreePolynomial(const symbolic::Variables &indeterminates, int degree, const std::string &coeff_name="a")MathematicalProgram
NewIndeterminates(const std::array< std::string, rows *cols > &names)MathematicalProgram
NewIndeterminates(const std::array< std::string, rows > &names)MathematicalProgram
NewIndeterminates(const std::string &name="X")MathematicalProgram
NewIndeterminates(const std::string &name="x")MathematicalProgram
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
NewNonnegativePolynomial(const Eigen::Ref< const VectorX< symbolic::Monomial >> &monomial_basis, NonnegativePolynomial type)MathematicalProgram
NewNonnegativePolynomial(const symbolic::Variables &indeterminates, int degree, NonnegativePolynomial type)MathematicalProgram
NewSosPolynomial(const Eigen::Ref< const VectorX< symbolic::Monomial >> &monomial_basis)MathematicalProgram
NewSosPolynomial(const symbolic::Variables &indeterminates, int degree)MathematicalProgram
NewSymmetricContinuousVariables(int rows, const std::string &name="Symmetric")MathematicalProgram
NewSymmetricContinuousVariables(const std::string &name="Symmetric")MathematicalProgram
NonnegativePolynomial enum nameMathematicalProgram
num_indeterminates() constMathematicalProgram
num_vars() constMathematicalProgram
operator=(const GlobalInverseKinematics &)=deleteGlobalInverseKinematics
operator=(GlobalInverseKinematics &&)=deleteGlobalInverseKinematics
drake::solvers::MathematicalProgram::operator=(const MathematicalProgram &)=deleteMathematicalProgram
drake::solvers::MathematicalProgram::operator=(MathematicalProgram &&)=deleteMathematicalProgram
positive_semidefinite_constraints() constMathematicalProgram
quadratic_costs() constMathematicalProgram
ReconstructGeneralizedPositionSolution(const solvers::MathematicalProgramResult &result) constGlobalInverseKinematics
required_capabilities() constMathematicalProgram
rotated_lorentz_cone_constraints() constMathematicalProgram
SetDecisionVariableValueInVector(const symbolic::Variable &decision_variable, double decision_variable_new_value, EigenPtr< Eigen::VectorXd > values) constMathematicalProgram
SetDecisionVariableValueInVector(const Eigen::Ref< const MatrixXDecisionVariable > &decision_variables, const Eigen::Ref< const Eigen::MatrixXd > &decision_variables_new_values, EigenPtr< Eigen::VectorXd > values) constMathematicalProgram
SetInitialGuess(const symbolic::Variable &decision_variable, double variable_guess_value)MathematicalProgram
SetInitialGuess(const Eigen::MatrixBase< DerivedA > &decision_variable_mat, const Eigen::MatrixBase< DerivedB > &x0)MathematicalProgram
SetInitialGuessForAllVariables(const Eigen::MatrixBase< Derived > &x0)MathematicalProgram
SetSolverOption(const SolverId &solver_id, const std::string &solver_option, double option_value)MathematicalProgram
SetSolverOption(const SolverId &solver_id, const std::string &solver_option, int option_value)MathematicalProgram
SetSolverOption(const SolverId &solver_id, const std::string &solver_option, const std::string &option_value)MathematicalProgram
solver_options() constMathematicalProgram
VarType typedefMathematicalProgram
visualization_callbacks() constMathematicalProgram
~GlobalInverseKinematics() overrideGlobalInverseKinematics
~MathematicalProgram()MathematicalProgramvirtual