#include <vector>
#include "drake/common/drake_copyable.h"
#include "drake/geometry/geometry_ids.h"
#include "drake/geometry/shape_specification.h"
#include "drake/multibody/rational/rational_forward_kinematics.h"
#include "drake/multibody/tree/multibody_tree_indexes.h"
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... | |