#include <drake/attic/multibody/global_inverse_kinematics.h>
◆ Options()
◆ 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: