solveLCPmex.cpp File Reference

#include <mex.h>
#include <cmath>
#include <iostream>
#include "drake/util/drakeMexUtil.h"
#include "drake/util/MexWrapper.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "drake/solvers/fastQP.h"
#include <sstream>
#include "rigidBodyTreeMexConversions.h"

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Macros
#define	BIG   1e20
#define	SMALL   1e-8

Functions
void	getInclusionIndices (vector< bool > const &inclusion, vector< size_t > &indices, bool get_true_indices)
template<typename Derived >
void	getThresholdInclusion (MatrixBase< Derived > const &values, const double threshold, vector< bool > &below_threshold)
size_t	getNumTrue (vector< bool > const &bools)
bool	anyTrue (vector< bool > const &bools)
void	partitionVector (vector< bool > const &indices, VectorXd const &v, VectorXd &included, VectorXd &excluded)
void	partitionMatrix (vector< bool > const &indices, MatrixXd const &M, MatrixXd &included, MatrixXd &excluded)
void	filterByIndices (vector< size_t > const &indices, MatrixXd const &M, MatrixXd &filtered)
void	filterByIndices (vector< size_t > const &indices, VectorXd const &v, VectorXd &filtered)
template<typename DerivedM , typename Derivedw , typename Derivedlb , typename Derivedz >
bool	callFastQP (MatrixBase< DerivedM > const &M, MatrixBase< Derivedw > const &w, MatrixBase< Derivedlb > const &lb, vector< bool > &z_inactive, const size_t checkLimit, MatrixBase< Derivedz > &z)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])

Macro Definition Documentation

#define BIG   1e20

#define SMALL   1e-8

Function Documentation

bool anyTrue ( vector< bool > const &  bools )

inline

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bool callFastQP	(	MatrixBase< DerivedM > const &	M,
		MatrixBase< Derivedw > const &	w,
		MatrixBase< Derivedlb > const &	lb,
		vector< bool > &	z_inactive,
		const size_t	checkLimit,
		MatrixBase< Derivedz > &	z
	)

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void filterByIndices ( vector< size_t > const &  indices, MatrixXd const &  M, MatrixXd &  filtered  )

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void filterByIndices ( vector< size_t > const &  indices, VectorXd const &  v, VectorXd &  filtered  )

inline

void getInclusionIndices ( vector< bool > const &  inclusion, vector< size_t > &  indices, bool  get_true_indices  )

inline

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size_t getNumTrue ( vector< bool > const &  bools )

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void getThresholdInclusion ( MatrixBase< Derived > const &  values, const double  threshold, vector< bool > &  below_threshold  )

inline

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

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void partitionMatrix ( vector< bool > const &  indices, MatrixXd const &  M, MatrixXd &  included, MatrixXd &  excluded  )

inline

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void partitionVector ( vector< bool > const &  indices, VectorXd const &  v, VectorXd &  included, VectorXd &  excluded  )

inline

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