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.

#include <utility>
#include "drake/common/symbolic/polynomial.h"
#include "drake/geometry/optimization/c_iris_collision_geometry.h"

Include dependency graph for cspace_separating_plane.h:

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

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

Enumerations
enum class	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.
int	ToPlaneDegree (SeparatingPlaneOrder plane_order)
	Convert SeparatingPlaneOrder to an integer degree.
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 }.