GlobalInverseKinematics::Polytope3D Struct Reference

Detailed Description

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

#include <drake/multibody/inverse_kinematics/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

Constructor & Destructor Documentation

Polytope3D()

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

Member Data Documentation

A

Eigen::MatrixX3d A

b

Eigen::VectorXd b

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

• drake/multibody/inverse_kinematics/global_inverse_kinematics.h