CSpaceSeparatingPlane< T > Struct Template Reference

Detailed Description

template<typename T>
struct drake::geometry::optimization::CSpaceSeparatingPlane< T >

Wraps the information that a pair of collision geometries are separated by a plane.

One collision geometry is on the "positive" side of the separating plane, namely {x| aᵀx + b ≥ δ} (with δ ≥ 0}, and the other collision geometry is on the "negative" side of the separating plane, namely {x|aᵀx+b ≤ −δ}.

Template Parameters

T	The type of decision_variables. T= symbolic::Variable or double.

#include <drake/geometry/optimization/cspace_separating_plane.h>

Public Member Functions
	CSpaceSeparatingPlane (Vector3< symbolic::Polynomial > m_a, symbolic::Polynomial m_b, const CIrisCollisionGeometry *m_positive_side_geometry, const CIrisCollisionGeometry *m_negative_side_geometry, multibody::BodyIndex m_expressed_body, int m_plane_degree, const Eigen::Ref< const VectorX< T > > &m_decision_variables)
const CIrisCollisionGeometry *	geometry (PlaneSide plane_side) const
	Return the geometry on the specified side.
SortedPair< geometry::GeometryId >	geometry_pair () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	CSpaceSeparatingPlane (const CSpaceSeparatingPlane &)=default
CSpaceSeparatingPlane &	operator= (const CSpaceSeparatingPlane &)=default
	CSpaceSeparatingPlane (CSpaceSeparatingPlane &&)=default
CSpaceSeparatingPlane &	operator= (CSpaceSeparatingPlane &&)=default

Public Attributes
Vector3< symbolic::Polynomial >	a
symbolic::Polynomial	b
const CIrisCollisionGeometry *	positive_side_geometry
const CIrisCollisionGeometry *	negative_side_geometry
multibody::BodyIndex	expressed_body
int	plane_degree {1}
VectorX< T >	decision_variables

Constructor & Destructor Documentation

CSpaceSeparatingPlane() [1/3]

template<typename T>

CSpaceSeparatingPlane ( const CSpaceSeparatingPlane< T > & )

default

CSpaceSeparatingPlane() [2/3]

template<typename T>

CSpaceSeparatingPlane ( CSpaceSeparatingPlane< T > && )

default

CSpaceSeparatingPlane() [3/3]

template<typename T>

CSpaceSeparatingPlane	(	Vector3< symbolic::Polynomial >	m_a,
		symbolic::Polynomial	m_b,
		const CIrisCollisionGeometry *	m_positive_side_geometry,
		const CIrisCollisionGeometry *	m_negative_side_geometry,
		multibody::BodyIndex	m_expressed_body,
		int	m_plane_degree,
		const Eigen::Ref< const VectorX< T > > &	m_decision_variables )

Member Function Documentation

geometry()

template<typename T>

const CIrisCollisionGeometry * geometry ( PlaneSide plane_side ) const

nodiscard

Return the geometry on the specified side.

geometry_pair()

template<typename T>

SortedPair< geometry::GeometryId > geometry_pair ( ) const

nodiscard

operator=() [1/2]

template<typename T>

CSpaceSeparatingPlane & operator= ( const CSpaceSeparatingPlane< T > & )

default

operator=() [2/2]

template<typename T>

CSpaceSeparatingPlane & operator= ( CSpaceSeparatingPlane< T > && )

default

Member Data Documentation

a

template<typename T>

Vector3<symbolic::Polynomial> a

b

template<typename T>

symbolic::Polynomial b

decision_variables

template<typename T>

VectorX<T> decision_variables

expressed_body

template<typename T>

multibody::BodyIndex expressed_body

negative_side_geometry

template<typename T>

const CIrisCollisionGeometry* negative_side_geometry

plane_degree

template<typename T>

int plane_degree {1}

positive_side_geometry

template<typename T>

const CIrisCollisionGeometry* positive_side_geometry

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The documentation for this struct was generated from the following file:

• drake/geometry/optimization/cspace_separating_plane.h