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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. More...
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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. More...
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HPolyhedron | IrisInConfigurationSpace (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 . More...
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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. More...
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