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PolyhedronNoCollision Class Reference

search for separating hyperplane c'x+d between two polyhedron to avoid contact More...

Inheritance diagram for PolyhedronNoCollision:
Collaboration diagram for PolyhedronNoCollision:

Public Member Functions

function PolyhedronNoCollision (verts1, verts2)
 Given two polyhedron with vertex verts1 and verts2 expressed in their body frame, find the position and orientation of the two polyhderon, such that they do not collide. More...
 
function retrieveSolution (obj, solver_sol)
 
function plotSolution (obj, sol)
 
- Public Member Functions inherited from BMIspotless
function BMIspotless ()
 Please make sure you have spotless on your machine. More...
 
function addBilinearVariable (obj, w_new, W_new)
 
function optimize (obj, w_guess)
 
function descentDirection (obj, sol_w, sol_W)
 
function plotSolution (obj, sol, sol_bilinear)
 This function can be reloaded. More...
 
function retrieveSolution (obj, solver_sol)
 

Protected Attributes

Property verts1
 
Property verts2
 
Property c
 The separating hyperplane is c'x+d = 0. More...
 
Property d
 
Property quat1
 
Property quat2
 
Property pos1
 
Property pos2
 
Property pos_vert1
 
Property pos_vert2
 
Property Quat1
 
Property Quat2
 
Property cQuat1
 
Property cQuat2
 
Property c_pos1
 
Property c_pos2
 
- Protected Attributes inherited from BMIspotless
Property w
 
Property W
 
Property blk1s
 

Additional Inherited Members

- Public Attributes inherited from BMIspotless
Property res_tol
 
Property itr_max
 
Property alpha_covW
 
Property trial_max
 
Property early_terminate_itr
 At early_terminate_itr, the program will check the residue, if the residue is larger than early_terminate_tol, the program will terminate, as the problem is unlikely to converge. More...
 
Property early_terminate_tol
 
Property plot_iteration
 
Property final_backoff_flag
 
Property final_backoff_scale
 
Property use_lcmgl
 

Detailed Description

search for separating hyperplane c'x+d between two polyhedron to avoid contact

Constructor & Destructor Documentation

function PolyhedronNoCollision ( verts1  ,
verts2   
)

Given two polyhedron with vertex verts1 and verts2 expressed in their body frame, find the position and orientation of the two polyhderon, such that they do not collide.

Return values
obj

Member Function Documentation

function plotSolution ( obj  ,
sol   
)
function retrieveSolution ( obj  ,
solver_sol   
)
Return values
sol
sol_bilinear

Member Data Documentation

Property c
protected

The separating hyperplane is c'x+d = 0.

Property c_pos1
protected
Property c_pos2
protected
Property cQuat1
protected
Property cQuat2
protected
Property d
protected
Property pos1
protected
Property pos2
protected
Property pos_vert1
protected
Property pos_vert2
protected
Property quat1
protected
Property Quat1
protected
Property quat2
protected
Property Quat2
protected
Property verts1
protected
Property verts2
protected

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