mixed_integer_rotation_constraint.h File Reference

#include <array>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
#include "drake/common/fmt_ostream.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/mixed_integer_optimization_util.h"

Include dependency graph for mixed_integer_rotation_constraint.h:

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Classes
class	MixedIntegerRotationConstraintGenerator
	We relax the non-convex SO(3) constraint on rotation matrix R to mixed-integer linear constraints. More...
struct	MixedIntegerRotationConstraintGenerator::ReturnType
struct	AddRotationMatrixBoxSphereIntersectionReturn
	Some of the newly added variables in function AddRotationMatrixBoxSphereIntersectionMilpConstraints. More...
struct	formatter< drake::solvers::MixedIntegerRotationConstraintGenerator::Approach >

Namespaces
namespace	drake
namespace	drake::solvers
namespace	fmt

Functions
std::string	to_string (MixedIntegerRotationConstraintGenerator::Approach type)
std::ostream &	operator<< (std::ostream &os, const MixedIntegerRotationConstraintGenerator::Approach &type)
AddRotationMatrixBoxSphereIntersectionReturn	AddRotationMatrixBoxSphereIntersectionMilpConstraints (const Eigen::Ref< const MatrixDecisionVariable< 3, 3 > > &R, int num_intervals_per_half_axis, MathematicalProgram *prog)
	Adds binary variables that constrain the value of the column and row vectors of R, in order to add the following (in some cases non-convex) constraints as an MILP.