GlobalInverseKinematics::Options Struct Reference

#include <drake/multibody/inverse_kinematics/global_inverse_kinematics.h>

Public Member Functions
	Options ()

Public Attributes
int	num_intervals_per_half_axis {2}
solvers::MixedIntegerRotationConstraintGenerator::Approach	approach
solvers::IntervalBinning	interval_binning
bool	linear_constraint_only {false}
	If true, add only mixed-integer linear constraints in the constructor of GlobalInverseKinematics.

Constructor & Destructor Documentation

Options()

Options

(

)

Member Data Documentation

approach

solvers::MixedIntegerRotationConstraintGenerator::Approach approach

Initial value:

{
        solvers::MixedIntegerRotationConstraintGenerator::Approach::
            kBilinearMcCormick}

interval_binning

solvers::IntervalBinning interval_binning

Initial value:

{
        solvers::IntervalBinning::kLogarithmic}

linear_constraint_only

bool linear_constraint_only {false}

If true, add only mixed-integer linear constraints in the constructor of GlobalInverseKinematics.

The mixed-integer relaxation is tighter with nonlinear constraints (such as Lorentz cone constraint) than with linear constraints, but the optimization takes more time with nonlinear constraints.

num_intervals_per_half_axis

int num_intervals_per_half_axis {2}

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The documentation for this struct was generated from the following file:

• drake/multibody/inverse_kinematics/global_inverse_kinematics.h