Drake
Drake C++ Documentation
cspace_separating_plane.h File Reference

Detailed Description

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.
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Classes

struct  CSpaceSeparatingPlane< T >
 Wraps the information that a pair of collision geometries are separated by a plane. More...
 

Namespaces

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

Enumerations

enum  SeparatingPlaneOrder { kAffine = 1 }
 The separating plane aᵀx + b ≥ δ, aᵀx + b ≤ −δ has parameters a and b. More...
 

Functions

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...