c_iris_collision_geometry.h File Reference

#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"

Include dependency graph for c_iris_collision_geometry.h:

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

Namespaces
namespace	drake
namespace	drake::geometry
namespace	drake::geometry::optimization

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