Hyperrectangle Class Reference

Detailed Description

Axis-aligned hyperrectangle in Rᵈ defined by its lower bounds and upper bounds as {x| lb ≤ x ≤ ub}.

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

Public Member Functions
	Hyperrectangle ()
	Constructs a default (zero-dimensional, nonempty) hyperrectangle.
	Hyperrectangle (const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
	Constructs a hyperrectangle from its lower and upper bounds.
	~Hyperrectangle () final
const Eigen::VectorXd &	lb () const
	Get the lower bounds of the hyperrectangle.
const Eigen::VectorXd &	ub () const
	Get the upper bounds of the hyperrectangle.
Eigen::VectorXd	UniformSample (RandomGenerator *generator) const
	Draws a uniform sample from the set.
Eigen::VectorXd	Center () const
	Get the center of the hyperrectangle.
HPolyhedron	MakeHPolyhedron () const
	Helper to convert this hyperrectangle to an HPolyhedron.
std::optional< Hyperrectangle >	MaybeGetIntersection (const Hyperrectangle &other) const
	Constructs the intersection of two Hyperrectangle by taking the pointwise maximum of the lower bounds and the pointwise minimums of the upper bounds.
template<typename Archive>
void	Serialize (Archive *a)
	Passes this object to an Archive.
bool	IsBounded (Parallelism parallelism=Parallelism::None()) const
	A Hyperrectangle is always bounded, since infinite lower and upper bounds are prohibited.
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Hyperrectangle (const Hyperrectangle &)=default
Hyperrectangle &	operator= (const Hyperrectangle &)=default
	Hyperrectangle (Hyperrectangle &&)=default
Hyperrectangle &	operator= (Hyperrectangle &&)=default
Public Member Functions inherited from ConvexSet
virtual	~ConvexSet ()
std::unique_ptr< ConvexSet >	Clone () const
	Creates a unique deep copy of this set.
int	ambient_dimension () const
	Returns the dimension of the vector space in which the elements of this set are evaluated.
bool	IntersectsWith (const ConvexSet &other) const
	Returns true iff the intersection between this and other is non-empty.
bool	IsBounded (Parallelism parallelism=Parallelism::None()) const
	Returns true iff the set is bounded, e.g., there exists an element-wise finite lower and upper bound for the set.
bool	IsEmpty () const
	Returns true iff the set is empty.
std::optional< Eigen::VectorXd >	MaybeGetPoint () const
	If this set trivially contains exactly one point, returns the value of that point.
std::optional< Eigen::VectorXd >	MaybeGetFeasiblePoint () const
	Returns a feasible point within this convex set if it is nonempty, and nullopt otherwise.
bool	PointInSet (const Eigen::Ref< const Eigen::VectorXd > &x, double tol=0) const
	Returns true iff the point x is contained in the set.
std::pair< VectorX< symbolic::Variable >, std::vector< solvers::Binding< solvers::Constraint > > >	AddPointInSetConstraints (solvers::MathematicalProgram *prog, const Eigen::Ref< const solvers::VectorXDecisionVariable > &vars) const
	Adds a constraint to an existing MathematicalProgram enforcing that the point defined by vars is inside the set.
std::vector< solvers::Binding< solvers::Constraint > >	AddPointInNonnegativeScalingConstraints (solvers::MathematicalProgram *prog, const Eigen::Ref< const solvers::VectorXDecisionVariable > &x, const symbolic::Variable &t) const
	Let S be this convex set.
std::vector< solvers::Binding< solvers::Constraint > >	AddPointInNonnegativeScalingConstraints (solvers::MathematicalProgram *prog, const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b, const Eigen::Ref< const Eigen::VectorXd > &c, double d, const Eigen::Ref< const solvers::VectorXDecisionVariable > &x, const Eigen::Ref< const solvers::VectorXDecisionVariable > &t) const
	Let S be this convex set.
std::pair< std::unique_ptr< Shape >, math::RigidTransformd >	ToShapeWithPose () const
	Constructs a Shape and a pose of the set in the world frame for use in the SceneGraph geometry ecosystem.
double	CalcVolume () const
	Computes the exact volume for the convex set.
SampledVolume	CalcVolumeViaSampling (RandomGenerator *generator, const double desired_rel_accuracy=1e-2, const int max_num_samples=1e4) const
	Calculates an estimate of the volume of the convex set using sampling and performing Monte Carlo integration.
std::optional< std::pair< std::vector< double >, Eigen::MatrixXd > >	Projection (const Eigen::Ref< const Eigen::MatrixXd > &points) const
	Computes in the L₂ norm the distance and the nearest point in this convex set to every column of points.
bool	has_exact_volume () const
	Returns true if the exact volume can be computed for this convex set instance.

Static Public Member Functions
static std::optional< Hyperrectangle >	MaybeCalcAxisAlignedBoundingBox (const ConvexSet &set)
	Returns the minimum axis-aligned bounding box of a convex set, for sets with finite volume.

Additional Inherited Members
Protected Member Functions inherited from ConvexSet
	ConvexSet (int ambient_dimension, bool has_exact_volume)
	For use by derived classes to construct a ConvexSet.
template<typename Archive>
void	Serialize (Archive *a)
	Implements non-virtual base class serialization.
virtual std::optional< bool >	DoIsBoundedShortcutParallel (Parallelism) const
	Non-virtual interface implementation for DoIsBoundedShortcutParallel().
virtual std::vector< std::optional< double > >	DoProjectionShortcut (const Eigen::Ref< const Eigen::MatrixXd > &points, EigenPtr< Eigen::MatrixXd > projected_points) const
	Non-virtual interface implementation for DoProjectionShortcut().
virtual bool	DoPointInSet (const Eigen::Ref< const Eigen::VectorXd > &x, double tol) const
	Non-virtual interface implementation for PointInSet().
std::optional< symbolic::Variable >	HandleZeroAmbientDimensionConstraints (solvers::MathematicalProgram *prog, const ConvexSet &set, std::vector< solvers::Binding< solvers::Constraint > > *constraints) const
	Instances of subclasses such as CartesianProduct and MinkowskiSum can have constituent sets with zero ambient dimension, which much be handled in a special manner when calling methods such as DoAddPointInSetConstraints.
	ConvexSet (const ConvexSet &)=default
ConvexSet &	operator= (const ConvexSet &)=default
	ConvexSet (ConvexSet &&)=default
ConvexSet &	operator= (ConvexSet &&)=default
Static Protected Member Functions inherited from ConvexSet
static std::unique_ptr< ConvexSet >	AffineHullShortcut (const ConvexSet &self, std::optional< double > tol)
	When there is a more efficient strategy to compute the affine hull of this set, returns affine hull as an AffineSubspace.

Constructor & Destructor Documentation

Hyperrectangle() [1/4]

Hyperrectangle ( const Hyperrectangle & )

default

Hyperrectangle() [2/4]

Hyperrectangle ( Hyperrectangle && )

default

Hyperrectangle() [3/4]

Hyperrectangle

(

)

Constructs a default (zero-dimensional, nonempty) hyperrectangle.

Hyperrectangle() [4/4]

Hyperrectangle	(	const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub )

Constructs a hyperrectangle from its lower and upper bounds.

Precondition

lb.size() == ub.size()

lb and ub are finite.

lb(i) <= ub(i) for all i

~Hyperrectangle()

~Hyperrectangle ( )

final

Member Function Documentation

Center()

Eigen::VectorXd Center

(

)

const

Get the center of the hyperrectangle.

IsBounded()

bool IsBounded

(

Parallelism

parallelism = Parallelism::None()

)

const

A Hyperrectangle is always bounded, since infinite lower and upper bounds are prohibited.

Parameters

parallelism

Ignored – no parallelization is used.

Note

See parent class's documentation for more details.

lb()

const Eigen::VectorXd & lb

(

)

const

Get the lower bounds of the hyperrectangle.

MakeHPolyhedron()

HPolyhedron MakeHPolyhedron

(

)

const

Helper to convert this hyperrectangle to an HPolyhedron.

MaybeCalcAxisAlignedBoundingBox()

std::optional< Hyperrectangle > MaybeCalcAxisAlignedBoundingBox ( const ConvexSet & set )

static

Returns the minimum axis-aligned bounding box of a convex set, for sets with finite volume.

(std::nullopt otherwise).

MaybeGetIntersection()

std::optional< Hyperrectangle > MaybeGetIntersection ( const Hyperrectangle & other ) const

nodiscard

Constructs the intersection of two Hyperrectangle by taking the pointwise maximum of the lower bounds and the pointwise minimums of the upper bounds.

Returns std::nullopt if the intersection is empty.

Precondition

this and other need to have the same ambient dimension.

operator=() [1/2]

Hyperrectangle & operator= ( const Hyperrectangle & )

default

operator=() [2/2]

Hyperrectangle & operator= ( Hyperrectangle && )

default

Serialize()

template<typename Archive>

void Serialize

(

Archive *

a

)

Passes this object to an Archive.

Refer to YAML Serialization for background.

ub()

const Eigen::VectorXd & ub

(

)

const

Get the upper bounds of the hyperrectangle.

UniformSample()

Eigen::VectorXd UniformSample

(

RandomGenerator *

generator

)

const

Draws a uniform sample from the set.

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

• drake/geometry/optimization/hyperrectangle.h