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Drake
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Drake
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#include <drake/planning/iris/iris_from_clique_cover.h>
Public Attributes | |
| geometry::optimization::IrisOptions | iris_options {.iteration_limit = 1} |
| The options used on internal calls to Iris. More... | |
| double | coverage_termination_threshold {0.7} |
| The fraction of the domain that must be covered before we terminate the algorithm. More... | |
| int | iteration_limit {100} |
| The maximum number of iterations of the algorithm. More... | |
| int | num_points_per_coverage_check {static_cast<int>(1e3)} |
| The number of points to sample when testing coverage. More... | |
| Parallelism | parallelism {Parallelism::Max()} |
| The amount of parallelism to use. More... | |
| int | minimum_clique_size {3} |
| The minimum size of the cliques used to construct a region. More... | |
| int | num_points_per_visibility_round {200} |
| Number of points to sample when building visibilty cliques. More... | |
| double | rank_tol_for_minimum_volume_circumscribed_ellipsoid {1e-6} |
| The rank tolerance used for computing the MinimumVolumeCircumscribedEllipsoid of a clique. More... | |
| double | point_in_set_tol {1e-6} |
| The tolerance used for checking whether a point is contained inside an HPolyhedron. More... | |
| double coverage_termination_threshold {0.7} |
The fraction of the domain that must be covered before we terminate the algorithm.
| geometry::optimization::IrisOptions iris_options {.iteration_limit = 1} |
The options used on internal calls to Iris.
Currently, it is recommended to only run Iris for one iteration when building from a clique so as to avoid discarding the information gained from the clique.
Note that IrisOptions can optionally include a meshcat instance to provide debugging visualization. If this is provided IrisFromCliqueCover will provide debug visualization in meshcat showing where in configuration space it is drawing from. However, if the parallelism option is set to allow more than 1 thread, then the debug visualizations of internal Iris calls will be disabled. This is due to a limitation of drawing to meshcat from outside the main thread.
| int iteration_limit {100} |
The maximum number of iterations of the algorithm.
| int minimum_clique_size {3} |
The minimum size of the cliques used to construct a region.
If this is set lower than the ambient dimension of the space we are trying to cover, then this option will be overridden to be at least 1 + the ambient dimension.
The number of points to sample when testing coverage.
| int num_points_per_visibility_round {200} |
Number of points to sample when building visibilty cliques.
If this option is less than twice the minimum clique size, it will be overridden to be at least twice the minimum clique size. If the algorithm ever fails to find a single clique in a visibility round, then the number of points in a visibility round will be doubled.
| Parallelism parallelism {Parallelism::Max()} |
The amount of parallelism to use.
This algorithm makes heavy use of parallelism at many points and thus it is highly recommended to set this to the maximum tolerable parallelism.
| double point_in_set_tol {1e-6} |
The tolerance used for checking whether a point is contained inside an HPolyhedron.
See @ConvexSet::PointInSet.
| double rank_tol_for_minimum_volume_circumscribed_ellipsoid {1e-6} |
The rank tolerance used for computing the MinimumVolumeCircumscribedEllipsoid of a clique.
See @MinimumVolumeCircumscribedEllipsoid.