This file is used in our C-IRIS algorithm and will be used in our C-Space path certifier, which certifies collision-free region in the configuration space, by finding separating planes for each pair of geometry over all configurations in a C-space region.
For the detailed algorithm please refer to the paper
Certified Polyhedral Decompositions of Collision-Free Configuration Space
by Hongkai Dai*, Alexandre Amice*, Peter Werner, Annan Zhang and Russ Tedrake.
|
SeparatingPlaneOrder | ToPlaneOrder (int plane_degree) |
| Convert an integer degree to the SeparatingPlaneOrder. More...
|
|
int | ToPlaneDegree (SeparatingPlaneOrder plane_order) |
| Convert SeparatingPlaneOrder to an integer degree. More...
|
|
template<typename D , typename S , typename V > |
void | CalcPlane (const VectorX< D > &decision_variables, const VectorX< S > &s_for_plane, int plane_degree, Vector3< V > *a_val, V *b_val) |
| Computes the parameters a, b in the plane { x | aᵀx+b=0 }. More...
|
|