#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. More...

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}

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

drake/multibody/inverse_kinematics/global_inverse_kinematics.h

Public Member Functions