cspace_free_box.h File Reference

#include <optional>
#include <unordered_map>
#include <vector>
#include "drake/geometry/optimization/cspace_free_polytope_base.h"
#include "drake/geometry/optimization/cspace_free_structs.h"
#include "drake/solvers/mathematical_program_result.h"

Include dependency graph for cspace_free_box.h:

Classes
class	CspaceFreeBox
	This class tries to find large axis-aligned bounding boxes in the configuration space, such that all configurations in the boxes are collision free. More...
class	CspaceFreeBox::SeparatingPlaneLagrangians
	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). More...
struct	CspaceFreeBox::SeparationCertificateResult
	We certify that a pair of geometries is collision free in the C-space box {q | q_box_lower<=q<=q_box_upper} by finding the separating plane and the Lagrangian multipliers. More...
struct	CspaceFreeBox::SeparationCertificate
	This struct stores the necessary information to search for the separating plane for the polytopic C-space box q_box_lower <= q <= q_box_upper. More...
struct	CspaceFreeBox::SeparationCertificateProgram

Namespaces
	drake
	drake::geometry
	drake::geometry::optimization