approximateIKEIQPmex.cpp File Reference

#include <mex.h>
#include <math.h>
#include <set>
#include <Eigen/Dense>
#include "drake/systems/plants/RigidBodyTree.h"
#include <iostream>
#include <Eigen/Cholesky>
#include <Eigen/LU>
#include <Eigen/SVD>
#include "drake/util/drakeUtil.h"
#include "drake/solvers/fastQP.h"

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Macros
#define	MAX_CONSTRS   1000
#define	MAX_ITER   20

Functions
void	angleDiff (VectorXd phi1, VectorXd phi2, VectorXd *d)
void	angleDiff (MatrixXd phi1, MatrixXd phi2, MatrixXd *d)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
	Use Frank's fastQP code (mexed) [q, info] = approximateIKEIQPmex(objgetMexModelPtr, q0, q_nom, Q, varargin) info = 0 on success, 1 on failure. More...

Macro Definition Documentation

#define MAX_CONSTRS   1000

#define MAX_ITER   20

Function Documentation

void angleDiff	(	VectorXd	phi1,
		VectorXd	phi2,
		VectorXd *	d
	)

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void angleDiff	(	MatrixXd	phi1,
		MatrixXd	phi2,
		MatrixXd *	d
	)

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

Use Frank's fastQP code (mexed) [q, info] = approximateIKEIQPmex(objgetMexModelPtr, q0, q_nom, Q, varargin) info = 0 on success, 1 on failure.

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