CspaceFreePolytope::BinarySearchOptions Struct Reference

Detailed Description

Options for binary search.

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

Public Attributes
double	scale_max {1}
	The maximal value of the scaling factor.
double	scale_min {0.01}
	The minimal value of the scaling factor.
int	max_iter {10}
	The maximal number of iterations in binary search.
double	convergence_tol {1E-3}
	When the gap between the upper bound and the lower bound of the scaling factor is below this convergence_tol, stops the binary search.
FindSeparationCertificateGivenPolytopeOptions	find_lagrangian_options

Member Data Documentation

convergence_tol

double convergence_tol {1E-3}

When the gap between the upper bound and the lower bound of the scaling factor is below this convergence_tol, stops the binary search.

Must be strictly positive.

find_lagrangian_options

FindSeparationCertificateGivenPolytopeOptions find_lagrangian_options

max_iter

int max_iter {10}

The maximal number of iterations in binary search.

Must be non-negative.

scale_max

double scale_max {1}

The maximal value of the scaling factor.

Must be finite and no less than scale_min.

scale_min

double scale_min {0.01}

The minimal value of the scaling factor.

Must be non-negative.

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

• drake/geometry/optimization/cspace_free_polytope.h