Drake C++ Documentation
Geometric Representations

Detailed Description


 SceneGraph, SceneGraphInspector, QueryObject
 SceneGraph serves as the nexus for all geometry (and geometry-based operations) in a Diagram.
 Geometry Queries and Roles
 Geometry roles help define how a real-world object is modeled in Drake.
 Proximity Queries
 Proximity queries span a range of types, including:
 Rendering Engines
 Rendering engines are used to enable simulation of the perception stack.
 Geometry Optimization
 Provides an abstraction for reasoning about geometry in optimization problems, and using optimization problems to solve geometry problems.