CspaceFreePolytope::SearchResult Class Reference

Detailed Description

Result on searching the C-space polytope and separating planes.

#include <drake/geometry/optimization/cspace_free_polytope.h>

Public Member Functions
	SearchResult ()
const Eigen::MatrixXd &	C () const
const Eigen::VectorXd &	d () const
const HPolyhedron &	certified_polytope () const
const std::unordered_map< int, Vector3< symbolic::Polynomial > > &	a () const
	Each plane index is mapped to a vector of polynomials. More...
const std::unordered_map< int, symbolic::Polynomial > &	b () const
	Each plane index is mapped to a polynomial,. More...
int	num_iter () const
	The number of iterations taken to search for the result. More...

Friends
class	CspaceFreePolytope

Constructor & Destructor Documentation

SearchResult()

SearchResult

(

)

Member Function Documentation

a()

const std::unordered_map<int, Vector3<symbolic::Polynomial> >& a

(

)

const

Each plane index is mapped to a vector of polynomials.

b()

const std::unordered_map<int, symbolic::Polynomial>& b

(

)

const

Each plane index is mapped to a polynomial,.

C()

const Eigen::MatrixXd& C

(

)

const

certified_polytope()

const HPolyhedron& certified_polytope

(

)

const

d()

const Eigen::VectorXd& d

(

)

const

num_iter()

int num_iter

(

)

const

The number of iterations taken to search for the result.

Friends And Related Function Documentation

CspaceFreePolytope

friend class CspaceFreePolytope

friend

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The documentation for this class was generated from the following file:

• drake/geometry/optimization/cspace_free_polytope.h