CspaceFreePolytope::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 region C*s<=d, s_lower <= s <= s_upper.

Hence for each of the rational we will introduce Lagrangian multipliers for the polytopic constraint d-C*s >= 0, s - s_lower >= 0, s_upper - s >= 0.

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

Public Member Functions
	SeparatingPlaneLagrangians (int C_rows, 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 > &	polytope () const
	The Lagrangians for d - C*s >= 0.
VectorX< symbolic::Polynomial > &	mutable_polytope ()
	The Lagrangians for d - C*s >= 0.
const VectorX< symbolic::Polynomial > &	s_lower () const
	The Lagrangians for s - s_lower >= 0.
VectorX< symbolic::Polynomial > &	mutable_s_lower ()
	The Lagrangians for s - s_lower >= 0.
const VectorX< symbolic::Polynomial > &	s_upper () const
	The Lagrangians for s_upper - s >= 0.
VectorX< symbolic::Polynomial > &	mutable_s_upper ()
	The Lagrangians for s_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	C_rows,
		int	s_size )

~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_polytope()

VectorX< symbolic::Polynomial > & mutable_polytope

(

)

The Lagrangians for d - C*s >= 0.

mutable_s_lower()

VectorX< symbolic::Polynomial > & mutable_s_lower

(

)

The Lagrangians for s - s_lower >= 0.

mutable_s_upper()

VectorX< symbolic::Polynomial > & mutable_s_upper

(

)

The Lagrangians for s_upper - s >= 0.

operator=() [1/2]

SeparatingPlaneLagrangians & operator= ( const SeparatingPlaneLagrangians & )

default

operator=() [2/2]

SeparatingPlaneLagrangians & operator= ( SeparatingPlaneLagrangians && )

default

polytope()

const VectorX< symbolic::Polynomial > & polytope

(

)

const

The Lagrangians for d - C*s >= 0.

s_lower()

const VectorX< symbolic::Polynomial > & s_lower

(

)

const

The Lagrangians for s - s_lower >= 0.

s_upper()

const VectorX< symbolic::Polynomial > & s_upper

(

)

const

The Lagrangians for s_upper - s >= 0.

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

• drake/geometry/optimization/cspace_free_polytope.h