Detailed Description

Options for bilinear alternation.

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

Public Attributes
int	max_iter {10}
	The maximum number of bilinear alternation iterations.
double	convergence_tol {1E-3}
	When the change of the cost function between two consecutive iterations in bilinear alternation is no larger than this number, stop the bilinear alternation.
FindPolytopeGivenLagrangianOptions	find_polytope_options
FindSeparationCertificateGivenPolytopeOptions	find_lagrangian_options
double	ellipsoid_scaling {0.99}
	After finding the maximal inscribed ellipsoid in C-space polytope {s \| C*s<=d, s_lower<=s<=s_upper}, we scale this ellipsoid by ellipsoid_scaling, and require the new C-space polytope to contain this scaled ellipsoid.

Member Data Documentation

◆ convergence_tol

double convergence_tol {1E-3}

When the change of the cost function between two consecutive iterations in bilinear alternation is no larger than this number, stop the bilinear alternation.

Must be non-negative.

◆ ellipsoid_scaling

double ellipsoid_scaling {0.99}

After finding the maximal inscribed ellipsoid in C-space polytope {s | C*s<=d, s_lower<=s<=s_upper}, we scale this ellipsoid by ellipsoid_scaling, and require the new C-space polytope to contain this scaled ellipsoid.

ellipsoid_scaling=1 corresponds to no scaling. Must be strictly positive and no greater than 1.

◆ find_lagrangian_options

FindSeparationCertificateGivenPolytopeOptions find_lagrangian_options

◆ find_polytope_options

FindPolytopeGivenLagrangianOptions find_polytope_options

◆ max_iter

int max_iter {10}

The maximum number of bilinear alternation iterations.