iris_zo.h File Reference

#include <filesystem>
#include <memory>
#include <optional>
#include <utility>
#include <vector>
#include <Eigen/Dense>
#include "drake/common/parallelism.h"
#include "drake/geometry/meshcat.h"
#include "drake/geometry/optimization/hpolyhedron.h"
#include "drake/geometry/optimization/hyperellipsoid.h"
#include "drake/planning/collision_checker.h"

Include dependency graph for iris_zo.h:

Classes
struct	IrisZoOptions
	IrisZoOptions collects all parameters for the IRIS-ZO algorithm. More...

Namespaces
	drake
	drake::planning

Functions
geometry::optimization::HPolyhedron	IrisZo (const CollisionChecker &checker, const geometry::optimization::Hyperellipsoid &starting_ellipsoid, const geometry::optimization::HPolyhedron &domain, const IrisZoOptions &options=IrisZoOptions())
	The IRIS-ZO (Iterative Regional Inflation by Semidefinite programming - Zero Order) algorithm, as described in. More...