iris_common.h File Reference

#include <filesystem>
#include <memory>
#include <optional>
#include <vector>
#include <Eigen/Dense>
#include "drake/common/name_value.h"
#include "drake/common/parallelism.h"
#include "drake/geometry/meshcat.h"
#include "drake/geometry/optimization/hpolyhedron.h"
#include "drake/geometry/optimization/hyperellipsoid.h"
#include "drake/geometry/optimization/vpolytope.h"
#include "drake/multibody/rational/rational_forward_kinematics.h"
#include "drake/planning/collision_checker.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/solve.h"

Include dependency graph for iris_common.h:

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Classes
class	CommonSampledIrisOptions
	Various options which are common to the sampling-based algorithms IrisNp2 and IrisZo for generating collision free polytopes in configuration space. More...
class	IrisParameterizationFunction
	Ordinarily, IRIS algorithms grow collision free regions in the robot's configuration space C. More...

Namespaces
	drake
	drake::planning