global_inverse_kinematics.h File Reference

#include <map>
#include <unordered_set>
#include <vector>
#include "drake/math/rigid_transform.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/mathematical_program_result.h"
#include "drake/solvers/mixed_integer_rotation_constraint.h"

Include dependency graph for global_inverse_kinematics.h:

Classes
class	GlobalInverseKinematics
	Solves the inverse kinematics problem as a mixed integer convex optimization problem. More...
struct	GlobalInverseKinematics::Options
struct	GlobalInverseKinematics::Polytope3D
	Describes a polytope in 3D as 𝐀 * 𝐱 ≤ 𝐛 (a set of half-spaces), where 𝐀 ∈ ℝⁿˣ³, 𝐱 ∈ ℝ³, 𝐛 ∈ ℝⁿ. More...

Namespaces
	drake
	drake::multibody