SeparationCertificateResultBase Struct Reference

Detailed Description

We certify that a pair of geometries is collision free by finding the separating plane over a range of configuration.

The Lagrangian multipliers used for certifying this condition will differ in derived classes. This struct contains the the separating plane {x | aᵀx+b=0 } and derived classes may store the Lagrangians certifying that the plane separates the two geometries in separating_planes()[plane_index] in the C-space region.

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

Public Member Functions
	SeparationCertificateResultBase ()=default
virtual	~SeparationCertificateResultBase ()

Public Attributes
int	plane_index {-1}
Vector3< symbolic::Polynomial >	a
	The separating plane is { x | aᵀx+b=0 }.
symbolic::Polynomial	b
Eigen::VectorXd	plane_decision_var_vals
solvers::MathematicalProgramResult	result

Protected Member Functions
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	SeparationCertificateResultBase (const SeparationCertificateResultBase &)=default
SeparationCertificateResultBase &	operator= (const SeparationCertificateResultBase &)=default
	SeparationCertificateResultBase (SeparationCertificateResultBase &&)=default
SeparationCertificateResultBase &	operator= (SeparationCertificateResultBase &&)=default

Constructor & Destructor Documentation

SeparationCertificateResultBase() [1/3]

SeparationCertificateResultBase ( )

default

~SeparationCertificateResultBase()

virtual ~SeparationCertificateResultBase ( )

virtual

SeparationCertificateResultBase() [2/3]

SeparationCertificateResultBase ( const SeparationCertificateResultBase & )

protecteddefault

SeparationCertificateResultBase() [3/3]

SeparationCertificateResultBase ( SeparationCertificateResultBase && )

protecteddefault

Member Function Documentation

operator=() [1/2]

SeparationCertificateResultBase & operator= ( const SeparationCertificateResultBase & )

protecteddefault

operator=() [2/2]

SeparationCertificateResultBase & operator= ( SeparationCertificateResultBase && )

protecteddefault

Member Data Documentation

a

Vector3<symbolic::Polynomial> a

The separating plane is { x | aᵀx+b=0 }.

b

symbolic::Polynomial b

plane_decision_var_vals

Eigen::VectorXd plane_decision_var_vals

plane_index

int plane_index {-1}

result

solvers::MathematicalProgramResult result

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

• drake/geometry/optimization/cspace_free_structs.h