gcs_trajectory_optimization.h File Reference

#include <map>
#include <memory>
#include <optional>
#include <string>
#include <tuple>
#include <unordered_set>
#include <utility>
#include <variant>
#include <vector>
#include "drake/common/trajectories/bezier_curve.h"
#include "drake/common/trajectories/composite_trajectory.h"
#include "drake/geometry/optimization/convex_set.h"
#include "drake/geometry/optimization/graph_of_convex_sets.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/binding.h"
#include "drake/solvers/constraint.h"
#include "drake/solvers/cost.h"

Include dependency graph for gcs_trajectory_optimization.h:

Classes
class	GcsTrajectoryOptimization
	GcsTrajectoryOptimization implements a simplified motion planning optimization problem introduced in the paper "Motion Planning around Obstacles with Convex Optimization" by Tobia Marcucci, Mark Petersen, David von Wrangel, Russ Tedrake. More...
class	GcsTrajectoryOptimization::Subgraph
	A Subgraph is a subset of the larger graph. More...
class	GcsTrajectoryOptimization::EdgesBetweenSubgraphs
	EdgesBetweenSubgraphs are defined as the connecting edges between two given subgraphs. More...

Namespaces
namespace	drake
namespace	drake::planning
namespace	drake::planning::trajectory_optimization

Functions
std::vector< int >	GetContinuousRevoluteJointIndices (const multibody::MultibodyPlant< double > &plant)
	Returns a list of indices in the plant's generalized positions which correspond to a continuous revolute joint (a revolute joint with no joint limits).