Some of the newly added variables in function AddRotationMatrixBoxSphereIntersectionMilpConstraints.
CRpos, CRneg, BRpos and BRneg can only take value 0 or 1. CRpos
and CRneg
are declared as continuous variables, while BRpos
and BRneg
are declared as binary variables. The definition for these variables are
CRpos[k](i, j) = 1 => k / N <= R(i, j) <= (k+1) / N
CRneg[k](i, j) = 1 => -(k+1) / N <= R(i, j) <= -k / N
BRpos[k](i, j) = 1 => R(i, j) >= k / N
BRneg[k](i, j) = 1 => R(i, j) <= -k / N
where N
is num_intervals_per_half_axis
, one of the input argument of AddRotationMatrixBoxSphereIntersectionMilpConstraints.