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. More...

	Hyperrectangle (const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
	Constructs a hyperrectangle from its lower and upper bounds. More...

	~Hyperrectangle () final

const Eigen::VectorXd &	lb () const
	Get the lower bounds of the hyperrectangle. More...

const Eigen::VectorXd &	ub () const
	Get the upper bounds of the hyperrectangle. More...

Eigen::VectorXd	UniformSample (RandomGenerator *generator) const
	Draws a uniform sample from the set. More...

Eigen::VectorXd	Center () const
	Get the center of the hyperrectangle. More...

HPolyhedron	MakeHPolyhedron () const
	Helper to convert this hyperrectangle to an HPolyhedron. More...

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. More...

template<typename Archive >
void	Serialize (Archive *a)
	Passes this object to an Archive. More...

bool	IsBounded (Parallelism parallelism=Parallelism::None()) const
	A Hyperrectangle is always bounded, since infinite lower and upper bounds are prohibited. More...

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. More...

int	ambient_dimension () const
	Returns the dimension of the vector space in which the elements of this set are evaluated. More...

bool	IntersectsWith (const ConvexSet &other) const
	Returns true iff the intersection between `this` and `other` is non-empty. More...

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. More...

bool	IsEmpty () const
	Returns true iff the set is empty. More...

std::optional< Eigen::VectorXd >	MaybeGetPoint () const
	If this set trivially contains exactly one point, returns the value of that point. More...

std::optional< Eigen::VectorXd >	MaybeGetFeasiblePoint () const
	Returns a feasible point within this convex set if it is nonempty, and nullopt otherwise. More...

bool	PointInSet (const Eigen::Ref< const Eigen::VectorXd > &x, double tol=0) const
	Returns true iff the point x is contained in the set. More...

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. More...

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. More...

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. More...

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. More...

double	CalcVolume () const
	Computes the exact volume for the convex set. More...

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. More...

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`. More...

bool	has_exact_volume () const
	Returns true if the exact volume can be computed for this convex set instance. More...

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. More...

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. More...

template<typename Archive >
void	Serialize (Archive *a)
	Implements non-virtual base class serialization. More...

virtual std::optional< bool >	DoIsBoundedShortcutParallel (Parallelism) const
	Non-virtual interface implementation for DoIsBoundedShortcutParallel(). More...

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(). More...

virtual bool	DoPointInSet (const Eigen::Ref< const Eigen::VectorXd > &x, double tol) const
	Non-virtual interface implementation for PointInSet(). More...

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. More...

	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. More...

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

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()

static 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

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()

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.

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

drake/geometry/optimization/hyperrectangle.h

Detailed Description

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Hyperrectangle() [1/4]

◆ Hyperrectangle() [2/4]

◆ Hyperrectangle() [3/4]

◆ Hyperrectangle() [4/4]

◆ ~Hyperrectangle()

Member Function Documentation

◆ Center()

◆ IsBounded()

◆ lb()

◆ MakeHPolyhedron()

◆ MaybeCalcAxisAlignedBoundingBox()

◆ MaybeGetIntersection()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Serialize()

◆ ub()

◆ UniformSample()