Drake
drake::geometry::optimization Namespace Reference

Classes

class  ConvexSet
 Abstract base class for defining a convex set. More...
 
class  GraphOfConvexSets
 (Experimental) – This class is not yet fully functional, and the interface may change without deprecation. More...
 
class  HPolyhedron
 Implements a polyhedral convex set using the half-space representation: {x| A x ≤ b}. More...
 
class  Hyperellipsoid
 Implements an ellipsoidal convex set represented by the quadratic form {x | (x-center)ᵀAᵀA(x-center) ≤ 1}. More...
 
struct  IrisOptions
 Configuration options for the IRIS algorithm. More...
 
class  MinkowskiSum
 A convex set that represents the Minkowski sum of multiple sets: S = X₁ ⨁ X₂ ⨁ ... More...
 
class  Point
 A convex set that contains exactly one element. More...
 
class  VPolytope
 A polytope described using the vertex representation. More...
 

Typedefs

typedef std::vector< copyable_unique_ptr< ConvexSet > > ConvexSets
 Provides the recommended container for passing a collection of ConvexSet instances. More...
 

Functions

template<typename Derived >
std::unique_ptr< ConvexSetConvexSetCloner (const ConvexSet &other)
 (Advanced) Implementation helper for ConvexSet::Clone. More...
 
HPolyhedron Iris (const ConvexSets &obstacles, const Eigen::Ref< const Eigen::VectorXd > &sample, const HPolyhedron &domain, const IrisOptions &options=IrisOptions())
 The IRIS (Iterative Region Inflation by Semidefinite programming) algorithm, as described in. More...
 
ConvexSets MakeIrisObstacles (const QueryObject< double > &query_object, std::optional< FrameId > reference_frame=std::nullopt)
 Constructs ConvexSet representations of obstacles for IRIS in 3D using the geometry from a SceneGraph QueryObject. More...
 
HPolyhedron IrisInConfigurationSpace (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &context, const Eigen::Ref< const Eigen::VectorXd > &sample, const IrisOptions &options=IrisOptions())
 A variation of the Iris (Iterative Region Inflation by Semidefinite programming) algorithm which finds collision-free regions in the configuration space of plant. More...
 

Typedef Documentation

◆ ConvexSets

typedef std::vector<copyable_unique_ptr<ConvexSet> > ConvexSets

Provides the recommended container for passing a collection of ConvexSet instances.

Function Documentation

◆ ConvexSetCloner()

std::unique_ptr<ConvexSet> drake::geometry::optimization::ConvexSetCloner ( const ConvexSet other)

(Advanced) Implementation helper for ConvexSet::Clone.

Refer to the ConvexSet::ConvexSet() constructor documentation for an example.