CspaceFreeBox::SeparatingPlaneLagrangians Class Reference

Detailed Description

When searching for the separating plane, we want to certify that the numerator of a rational is non-negative in the C-space box q_box_lower <= q <= q_box_upper (or equivalently s_box_lower <= s <= s_box_upper).

Hence for each of the rational we will introduce Lagrangian multipliers for the polytopic constraint s - s_box_lower >= 0, s_box_upper - s >= 0.

#include <drake/geometry/optimization/cspace_free_box.h>

Public Member Functions
	SeparatingPlaneLagrangians (int s_size)
	~SeparatingPlaneLagrangians ()
SeparatingPlaneLagrangians	GetSolution (const solvers::MathematicalProgramResult &result) const
	Substitutes the decision variables in each Lagrangians with its value in result, returns the substitution result.
const VectorX< symbolic::Polynomial > &	s_box_lower () const
	The Lagrangians for s - s_box_lower >= 0.
VectorX< symbolic::Polynomial > &	mutable_s_box_lower ()
	The Lagrangians for s - s_box_lower >= 0.
const VectorX< symbolic::Polynomial > &	s_box_upper () const
	The Lagrangians for s_box_upper - s >= 0.
VectorX< symbolic::Polynomial > &	mutable_s_box_upper ()
	The Lagrangians for s_box_upper - s >= 0.
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	SeparatingPlaneLagrangians (const SeparatingPlaneLagrangians &)=default
SeparatingPlaneLagrangians &	operator= (const SeparatingPlaneLagrangians &)=default
	SeparatingPlaneLagrangians (SeparatingPlaneLagrangians &&)=default
SeparatingPlaneLagrangians &	operator= (SeparatingPlaneLagrangians &&)=default

Constructor & Destructor Documentation

SeparatingPlaneLagrangians() [1/3]

SeparatingPlaneLagrangians ( const SeparatingPlaneLagrangians & )

default

SeparatingPlaneLagrangians() [2/3]

SeparatingPlaneLagrangians ( SeparatingPlaneLagrangians && )

default

SeparatingPlaneLagrangians() [3/3]

SeparatingPlaneLagrangians ( int s_size )

explicit

~SeparatingPlaneLagrangians()

~SeparatingPlaneLagrangians

(

)

Member Function Documentation

GetSolution()

SeparatingPlaneLagrangians GetSolution ( const solvers::MathematicalProgramResult & result ) const

nodiscard

Substitutes the decision variables in each Lagrangians with its value in result, returns the substitution result.

mutable_s_box_lower()

VectorX< symbolic::Polynomial > & mutable_s_box_lower

(

)

The Lagrangians for s - s_box_lower >= 0.

mutable_s_box_upper()

VectorX< symbolic::Polynomial > & mutable_s_box_upper

(

)

The Lagrangians for s_box_upper - s >= 0.

operator=() [1/2]

SeparatingPlaneLagrangians & operator= ( const SeparatingPlaneLagrangians & )

default

operator=() [2/2]

SeparatingPlaneLagrangians & operator= ( SeparatingPlaneLagrangians && )

default

s_box_lower()

const VectorX< symbolic::Polynomial > & s_box_lower

(

)

const

The Lagrangians for s - s_box_lower >= 0.

s_box_upper()

const VectorX< symbolic::Polynomial > & s_box_upper

(

)

const

The Lagrangians for s_box_upper - s >= 0.

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

• drake/geometry/optimization/cspace_free_box.h