Drake
global_inverse_kinematics.h File Reference
#include <vector>
#include "drake/multibody/rigid_body_tree.h"
#include "drake/solvers/mathematical_program.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