CspaceFreePolytope::FindPolytopeGivenLagrangianOptions Struct Reference

Detailed Description

Options for finding polytope with given Lagrangians.

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

Public Member Functions
	FindPolytopeGivenLagrangianOptions ()=default
	~FindPolytopeGivenLagrangianOptions ()
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	FindPolytopeGivenLagrangianOptions (const FindPolytopeGivenLagrangianOptions &)=default
FindPolytopeGivenLagrangianOptions &	operator= (const FindPolytopeGivenLagrangianOptions &)=default
	FindPolytopeGivenLagrangianOptions (FindPolytopeGivenLagrangianOptions &&)=default
FindPolytopeGivenLagrangianOptions &	operator= (FindPolytopeGivenLagrangianOptions &&)=default

Public Attributes
std::optional< double >	backoff_scale {std::nullopt}
double	ellipsoid_margin_epsilon {1E-5}
	We will maximize the cost ∏ᵢ (δᵢ + ε) where δᵢ is the margin from each face of the polytope {s | Cs<=d} to the inscribed ellipsoid, ε is ellipsoid_margin_epsilon, a small positive constant to make sure δᵢ + ε being strictly positive.
solvers::SolverId	solver_id {solvers::MosekSolver::id()}
	ID for the solver.
std::optional< solvers::SolverOptions >	solver_options {std::nullopt}
	options for solving the MathematicalProgram
std::optional< Eigen::MatrixXd >	s_inner_pts
	We can constrain the C-space polytope {s | C*s<=d, s_lower<=s<=s_upper} to contain some sampled s.
bool	search_s_bounds_lagrangians {true}
	If set to true, then we will also search for the Lagrangian multipliers for the constraint s_lower <= s <= s_upper; otherwise we fix the Lagrangian multiplier to the solution found when we fix the C-space polytope {s | C*s<=d, s_lower<=s<=s_upper}.
EllipsoidMarginCost	ellipsoid_margin_cost
	Type of cost on the ellipsoid margin.

Constructor & Destructor Documentation

FindPolytopeGivenLagrangianOptions() [1/3]

FindPolytopeGivenLagrangianOptions ( const FindPolytopeGivenLagrangianOptions & )

default

FindPolytopeGivenLagrangianOptions() [2/3]

FindPolytopeGivenLagrangianOptions ( FindPolytopeGivenLagrangianOptions && )

default

FindPolytopeGivenLagrangianOptions() [3/3]

FindPolytopeGivenLagrangianOptions ( )

default

~FindPolytopeGivenLagrangianOptions()

~FindPolytopeGivenLagrangianOptions

(

)

Member Function Documentation

operator=() [1/2]

FindPolytopeGivenLagrangianOptions & operator= ( const FindPolytopeGivenLagrangianOptions & )

default

operator=() [2/2]

FindPolytopeGivenLagrangianOptions & operator= ( FindPolytopeGivenLagrangianOptions && )

default

Member Data Documentation

backoff_scale

std::optional<double> backoff_scale {std::nullopt}

ellipsoid_margin_cost

EllipsoidMarginCost ellipsoid_margin_cost

Initial value:

{
        EllipsoidMarginCost::kGeometricMean}

Type of cost on the ellipsoid margin.

ellipsoid_margin_epsilon

double ellipsoid_margin_epsilon {1E-5}

We will maximize the cost ∏ᵢ (δᵢ + ε) where δᵢ is the margin from each face of the polytope {s | Cs<=d} to the inscribed ellipsoid, ε is ellipsoid_margin_epsilon, a small positive constant to make sure δᵢ + ε being strictly positive.

s_inner_pts

std::optional<Eigen::MatrixXd> s_inner_pts

We can constrain the C-space polytope {s | C*s<=d, s_lower<=s<=s_upper} to contain some sampled s.

Each column of s_inner_pts is a sample of s.

search_s_bounds_lagrangians

bool search_s_bounds_lagrangians {true}

If set to true, then we will also search for the Lagrangian multipliers for the constraint s_lower <= s <= s_upper; otherwise we fix the Lagrangian multiplier to the solution found when we fix the C-space polytope {s | C*s<=d, s_lower<=s<=s_upper}.

solver_id

solvers::SolverId solver_id {solvers::MosekSolver::id()}

ID for the solver.

solver_options

std::optional<solvers::SolverOptions> solver_options {std::nullopt}

options for solving the MathematicalProgram

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

• drake/geometry/optimization/cspace_free_polytope.h