#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"
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 | |
drake | |
drake::planning | |
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). More... | |