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Drake
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Drake
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A collection of algorithms for finding configurations and/or trajectories of dynamical systems.
Many planning algorithms make heavy use of MathematicalProgram and the numerous Costs and Constraints. There are also some useful classes in Manipulation.
Modules | |
| Inverse kinematics | |
| These algorithms help define configurations of dynamical systems based on inverse kinematics (IK). | |
| Trajectories | |
| These algorithms compute trajectories based on various criteria. | |
| Collision checking | |
| The CollisionChecker interface provides a basis for performing distance queries on robots in environments for various planning problems (e.g., sampling planning). | |
| Convenience classes | |
| Simplifications for managing Diagrams containing MultibodyPlant and SceneGraph systems in planning tasks. | |
| Iris | |
| These algorithms help construct regions of configuration space that are collision free. | |
Classes | |
| class | StaticEquilibriumProblem |
| Finds the static equilibrium pose of a multibody system through optimization. More... | |