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.
 Supported file formats
 Drake offers a number of primitive types for representing objects' extents in space.
 Geometry Optimization
 Provides an abstraction for reasoning about geometry in optimization problems, and using optimization problems to solve geometry problems.