#include <array>
#include <map>
#include <memory>
#include <optional>
#include <unordered_map>
#include <unordered_set>
#include <utility>
#include <vector>
#include <fmt/format.h>
#include "drake/geometry/optimization/c_iris_collision_geometry.h"
#include "drake/geometry/optimization/cspace_free_polytope_base.h"
#include "drake/geometry/optimization/cspace_free_structs.h"
#include "drake/geometry/optimization/hpolyhedron.h"
#include "drake/multibody/rational/rational_forward_kinematics.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/mathematical_program_result.h"
#include "drake/solvers/mosek_solver.h"

Include dependency graph for cspace_free_polytope.h:

Classes
class	CspaceFreePolytope
	This class tries to find large convex polytopes in the tangential-configuration space, such that all configurations in the convex polytopes is collision free. More...

class	CspaceFreePolytope::SeparatingPlaneLagrangians
	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. More...

struct	CspaceFreePolytope::SeparationCertificateResult
	We certify that a pair of geometries is collision free in the C-space region {s \| Cs<=d, s_lower<=s<=s_upper} by finding the separating plane and the Lagrangian multipliers. More...

struct	CspaceFreePolytope::SeparationCertificate
	This struct stores the necessary information to search for the separating plane for the polytopic C-space region C*s <= d, s_lower <= s <= s_upper. More...

struct	CspaceFreePolytope::SeparationCertificateProgram

struct	CspaceFreePolytope::FindSeparationCertificateGivenPolytopeOptions

struct	CspaceFreePolytope::FindPolytopeGivenLagrangianOptions
	Options for finding polytope with given Lagrangians. More...

class	CspaceFreePolytope::SearchResult
	Result on searching the C-space polytope and separating planes. More...

struct	CspaceFreePolytope::BilinearAlternationOptions
	Options for bilinear alternation. More...

struct	CspaceFreePolytope::BinarySearchOptions
	Options for binary search. More...

Namespaces
	drake

	drake::geometry

	drake::geometry::optimization

Classes

Namespaces