Drake
GlobalInverseKinematics::Options Struct Reference

#include <drake/attic/multibody/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 ( )
inline

Member Data Documentation

◆ approach

Initial value:
{
solvers::MixedIntegerRotationConstraintGenerator::Approach::
kBilinearMcCormick}

◆ interval_binning

◆ 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: