iris_np2.h File Reference

#include <string>
#include "drake/geometry/optimization/hpolyhedron.h"
#include "drake/geometry/optimization/hyperellipsoid.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/planning/iris/iris_common.h"
#include "drake/planning/scene_graph_collision_checker.h"
#include "drake/solvers/solve.h"

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Classes
struct	RaySamplerOptions
	RaySamplerOptions contains settings specific to the kRaySampler strategy for drawing the initial samples. More...
class	IrisNp2Options
	IrisNp2Options collects all parameters for the IRIS-NP2 algorithm. More...

Namespaces
namespace	drake
namespace	drake::planning

Functions
geometry::optimization::HPolyhedron	IrisNp2 (const SceneGraphCollisionChecker &checker, const geometry::optimization::Hyperellipsoid &starting_ellipsoid, const geometry::optimization::HPolyhedron &domain, const IrisNp2Options &options=IrisNp2Options())
	The IRIS-NP2 (Iterative Regional Inflation by Semidefinite and Nonlinear Programming 2) algorithm, as described in.