iris.h File Reference

#include <map>
#include <memory>
#include <optional>
#include <string>
#include <vector>
#include "drake/common/drake_deprecated.h"
#include "drake/common/name_value.h"
#include "drake/geometry/meshcat.h"
#include "drake/geometry/optimization/convex_set.h"
#include "drake/geometry/optimization/hpolyhedron.h"
#include "drake/multibody/plant/multibody_plant.h"

Include dependency graph for iris.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	IrisOptions
	Configuration options for the IRIS algorithm. More...

Namespaces
namespace	drake
namespace	drake::geometry
namespace	drake::geometry::optimization

Typedefs
typedef std::map< std::string, HPolyhedron >	IrisRegions
	Defines a standardized representation for (named) IrisRegions, which can be serialized in both C++ and Python.

Functions
HPolyhedron	Iris (const ConvexSets &obstacles, const Eigen::Ref< const Eigen::VectorXd > &sample, const HPolyhedron &domain, const IrisOptions &options=IrisOptions())
	The IRIS (Iterative Region Inflation by Semidefinite programming) algorithm, as described in.
ConvexSets	MakeIrisObstacles (const QueryObject< double > &query_object, std::optional< FrameId > reference_frame=std::nullopt)
	Constructs ConvexSet representations of obstacles for IRIS in 3D using the geometry from a SceneGraph QueryObject.
HPolyhedron	IrisNp (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &context, const IrisOptions &options=IrisOptions())
	A variation of the Iris (Iterative Region Inflation by Semidefinite programming) algorithm which finds collision-free regions in the configuration space of plant.
HPolyhedron	IrisInConfigurationSpace (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &context, const IrisOptions &options=IrisOptions())
	(Deprecated.)
void	SetEdgeContainmentTerminationCondition (IrisOptions *iris_options, const Eigen::Ref< const Eigen::VectorXd > &x_1, const Eigen::Ref< const Eigen::VectorXd > &x_2, const double epsilon=1e-3, const double tol=1e-6)
	Modifies the iris_options to facilitate finding a region that contains the edge between x_1 and x_2.