Drake
GlobalInverseKinematics::Polytope3D Struct Reference

Describes a polytope in 3D as 𝐀 * 𝐱 ≤ 𝐛 (a set of half-spaces), where 𝐀 ∈ ℝⁿˣ³, 𝐱 ∈ ℝ³, 𝐛 ∈ ℝⁿ. More...

#include <drake/attic/multibody/global_inverse_kinematics.h>

Public Member Functions

 Polytope3D (const Eigen::Ref< const Eigen::MatrixX3d > &m_A, const Eigen::Ref< const Eigen::VectorXd > &m_b)
 

Public Attributes

Eigen::MatrixX3d A
 
Eigen::VectorXd b
 

Detailed Description

Describes a polytope in 3D as 𝐀 * 𝐱 ≤ 𝐛 (a set of half-spaces), where 𝐀 ∈ ℝⁿˣ³, 𝐱 ∈ ℝ³, 𝐛 ∈ ℝⁿ.

Constructor & Destructor Documentation

◆ Polytope3D()

Polytope3D ( const Eigen::Ref< const Eigen::MatrixX3d > &  m_A,
const Eigen::Ref< const Eigen::VectorXd > &  m_b 
)
inline

Member Data Documentation

◆ A

Eigen::MatrixX3d A

◆ b

Eigen::VectorXd b

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