iris_from_clique_cover.h File Reference

#include <algorithm>
#include <memory>
#include <optional>
#include <vector>
#include "drake/common/parallelism.h"
#include "drake/geometry/meshcat.h"
#include "drake/geometry/optimization/convex_set.h"
#include "drake/geometry/optimization/hpolyhedron.h"
#include "drake/geometry/optimization/iris.h"
#include "drake/planning/graph_algorithms/max_clique_solver_base.h"
#include "drake/planning/graph_algorithms/max_clique_solver_via_greedy.h"
#include "drake/planning/scene_graph_collision_checker.h"

Include dependency graph for iris_from_clique_cover.h:

Classes
struct	IrisFromCliqueCoverOptions

Namespaces
	drake
	drake::planning

Functions
void	IrisInConfigurationSpaceFromCliqueCover (const CollisionChecker &checker, const IrisFromCliqueCoverOptions &options, RandomGenerator *generator, std::vector< geometry::optimization::HPolyhedron > *sets, const planning::graph_algorithms::MaxCliqueSolverBase *max_clique_solver=nullptr)
	Cover the configuration space in Iris regions using the Visibility Clique Cover Algorithm as described in. More...