Drake
Drake C++ Documentation
c_iris_collision_geometry.h File Reference
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Classes

class  CIrisCollisionGeometry
 This class contains the necessary information about the collision geometry used in C-IRIS. More...
 

Namespaces

 drake
 
 drake::geometry
 
 drake::geometry::optimization
 

Enumerations

enum  CIrisGeometryType { kSphere, kPolytope, kCylinder, kCapsule }
 The supported type of geometries in C-IRIS. More...
 
enum  PlaneSide { kPositive, kNegative }
 

Functions

double DistanceToHalfspace (const CIrisCollisionGeometry &collision_geometry, const Eigen::Vector3d &a, double b, multibody::BodyIndex expressed_body, PlaneSide plane_side, const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &plant_context)
 Computes the signed distance from collision_geometry to the half space ℋ, where ℋ = {x | aᵀx+b >= 0} if plane_side=PlaneSide::kPositive, and ℋ = {x | aᵀx+b <= 0} if plane_side=PlaneSide::kNegative. More...