minimum_distance_lower_bound_constraint.h File Reference

#include <memory>
#include <vector>
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/planning/collision_checker.h"
#include "drake/solvers/constraint.h"
#include "drake/solvers/minimum_value_constraint.h"
#include "drake/systems/framework/context.h"

Include dependency graph for minimum_distance_lower_bound_constraint.h:

Classes
class	MinimumDistanceLowerBoundConstraint
	Constrain min(d) >= lb, namely the signed distance between all candidate pairs of geometries (according to the logic of SceneGraphInspector::GetCollisionCandidates()) to be no smaller than a specified minimum distance lb. More...

Namespaces
	drake
	drake::multibody