Detailed Description

This struct stores the necessary information to search for the separating plane for the polytopic C-space box q_box_lower <= q <= q_box_upper.

We need to impose that N rationals are non-negative in this C-space box. The denominator of each rational is always positive hence we need to impose the N numerators are non-negative in this C-space box. We impose the condition numerator_i(s) - λ_lower(s)ᵀ * (s - s_lower) -λ_upper(s)ᵀ * (s_upper - s) is sos λ_lower(s) are sos, λ_upper(s) are sos.

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

Public Member Functions
	SeparationCertificate ()

SeparationCertificateResult	GetSolution (int plane_index, const Vector3< symbolic::Polynomial > &a, const symbolic::Polynomial &b, const VectorX< symbolic::Variable > &plane_decision_vars, const solvers::MathematicalProgramResult &result) const

std::vector< SeparatingPlaneLagrangians > &	mutable_lagrangians (PlaneSide plane_side)

Public Attributes
std::vector< SeparatingPlaneLagrangians >	positive_side_rational_lagrangians

std::vector< SeparatingPlaneLagrangians >	negative_side_rational_lagrangians

Constructor & Destructor Documentation

◆ SeparationCertificate()

SeparationCertificate ( )

Member Function Documentation

◆ GetSolution()

SeparationCertificateResult GetSolution	(	int	plane_index,
		const Vector3< symbolic::Polynomial > &	a,
		const symbolic::Polynomial &	b,
		const VectorX< symbolic::Variable > &	plane_decision_vars,
		const solvers::MathematicalProgramResult &	result
	)		const

◆ mutable_lagrangians()

std::vector<SeparatingPlaneLagrangians>& mutable_lagrangians ( PlaneSide plane_side )

Member Data Documentation

◆ negative_side_rational_lagrangians

std::vector<SeparatingPlaneLagrangians> negative_side_rational_lagrangians

◆ positive_side_rational_lagrangians

std::vector<SeparatingPlaneLagrangians> positive_side_rational_lagrangians

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

drake/geometry/optimization/cspace_free_box.h