IrisNp2Options Class Reference

Detailed Description

IrisNp2Options collects all parameters for the IRIS-NP2 algorithm.

Warning

This feature is considered to be experimental and may change or be removed at any time, without any deprecation notice ahead of time.

See also

IrisNp2 for more details.

#include <drake/planning/iris/iris_np2.h>

Public Member Functions
template<typename Archive>
void	Serialize (Archive *a)
	Passes this object to an Archive.
	IrisNp2Options ()=default
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	IrisNp2Options (const IrisNp2Options &)=default
IrisNp2Options &	operator= (const IrisNp2Options &)=default
	IrisNp2Options (IrisNp2Options &&)=default
IrisNp2Options &	operator= (IrisNp2Options &&)=default

Public Attributes
const solvers::SolverInterface *	solver {nullptr}
	The user can specify a solver to use for the counterexample search program.
solvers::SolverOptions	solver_options {}
	Options passed to the counterexample search program solver.
CommonSampledIrisOptions	sampled_iris_options {}
	Options common to IRIS-type algorithms.
IrisParameterizationFunction	parameterization {}
	Parameterization of the subspace along which to grow the region.
std::string	sampling_strategy {"greedy"}
	Which sampling strategy to use when growing the region.
RaySamplerOptions	ray_sampler_options
	Additional options for kRaySampler.
bool	add_hyperplane_if_solve_fails {false}
	Add a hyperplane at a particle in collision if the nonlinear solve (initialized at that point) fails.

Constructor & Destructor Documentation

IrisNp2Options() [1/3]

IrisNp2Options ( const IrisNp2Options & )

default

IrisNp2Options() [2/3]

IrisNp2Options ( IrisNp2Options && )

default

IrisNp2Options() [3/3]

IrisNp2Options ( )

default

Member Function Documentation

operator=() [1/2]

IrisNp2Options & operator= ( const IrisNp2Options & )

default

operator=() [2/2]

IrisNp2Options & operator= ( IrisNp2Options && )

default

Serialize()

template<typename Archive>

void Serialize

(

Archive *

a

)

Passes this object to an Archive.

Refer to YAML Serialization for background. Note: This only serializes options that are YAML built-in types.

Member Data Documentation

add_hyperplane_if_solve_fails

bool add_hyperplane_if_solve_fails {false}

Add a hyperplane at a particle in collision if the nonlinear solve (initialized at that point) fails.

Generally leads to regions with more faces, but helpful for getting the algorithm unstuck if most nonlinear solves are failing.

parameterization

IrisParameterizationFunction parameterization {}

Parameterization of the subspace along which to grow the region.

Default is the identity parameterization, corresponding to growing regions in the ordinary configuration space.

ray_sampler_options

RaySamplerOptions ray_sampler_options

Additional options for kRaySampler.

Ignored if kGreedySampler is used.

sampled_iris_options

CommonSampledIrisOptions sampled_iris_options {}

Options common to IRIS-type algorithms.

sampling_strategy

std::string sampling_strategy {"greedy"}

Which sampling strategy to use when growing the region.

Use "ray" for kRaySmpler, and "greedy" for kGreedySampler. kRaySampler finds collisions closer to the ellipsoid center in order to achieve more efficient hyperplane placement, yielding fewer hyperplanes in the resulting region, but may take more runtime than kGreedySampler.

Note

See §5.3 of [Werner et al., 2024] for further details.

solver

const solvers::SolverInterface* solver {nullptr}

The user can specify a solver to use for the counterexample search program.

If nullptr (the default value) is given, then solvers::MakeFirstAvailableSolver will be used to pick the solver.

solver_options

solvers::SolverOptions solver_options {}

Options passed to the counterexample search program solver.

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

• drake/planning/iris/iris_np2.h