Drake
global_inverse_kinematics.cc File Reference
#include "drake/multibody/global_inverse_kinematics.h"
#include <limits>
#include <stack>
#include <string>
#include "drake/common/eigen_types.h"
#include "drake/math/roll_pitch_yaw.h"
#include "drake/math/rotation_matrix.h"
#include "drake/multibody/joints/drake_joints.h"
#include "drake/solvers/rotation_constraint.h"
Include dependency graph for global_inverse_kinematics.cc:

Namespaces

 drake
 
 drake::multibody
 

Functions

void ApproximateBoundedNormByLinearConstraints (const Eigen::Ref< const Vector3< symbolic::Expression >> &x, double c, solvers::MathematicalProgram *prog)