PlaneSeparatesGeometries Struct Reference

Detailed Description

Contains the information to enforce a pair of geometries are separated by a plane.

The conditions are that certain rational functions should be always positive.

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

Public Member Functions
	PlaneSeparatesGeometries (std::vector< symbolic::RationalFunction > m_positive_side_rationals, std::vector< symbolic::RationalFunction > m_negative_side_rationals, int m_plane_index)
const std::vector< symbolic::RationalFunction > &	rationals (PlaneSide plane_side) const

Public Attributes
const std::vector< symbolic::RationalFunction >	positive_side_rationals
const std::vector< symbolic::RationalFunction >	negative_side_rationals
int	plane_index {-1}

Constructor & Destructor Documentation

PlaneSeparatesGeometries()

PlaneSeparatesGeometries	(	std::vector< symbolic::RationalFunction >	m_positive_side_rationals,
		std::vector< symbolic::RationalFunction >	m_negative_side_rationals,
		int	m_plane_index
	)

Member Function Documentation

rationals()

const std::vector<symbolic::RationalFunction>& rationals

(

PlaneSide

plane_side

)

const

Member Data Documentation

negative_side_rationals

const std::vector<symbolic::RationalFunction> negative_side_rationals

plane_index

int plane_index {-1}

positive_side_rationals

const std::vector<symbolic::RationalFunction> positive_side_rationals

---

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

• drake/geometry/optimization/cspace_free_structs.h