|
Drake
|
|
Drake
|
IrisZoOptions collects all parameters for the IRIS-ZO algorithm.
#include <drake/planning/iris/iris_zo.h>
Public Member Functions | |
| template<typename Archive > | |
| void | Serialize (Archive *a) |
| Passes this object to an Archive. More... | |
| IrisZoOptions ()=default | |
Public Attributes | |
| int | num_particles = 1e3 |
| Number of particles used to estimate the closest collision. More... | |
| double | tau = 0.5 |
| Decision threshold for the unadaptive test. More... | |
| double | delta = 5e-2 |
Upper bound on the probability the returned region has a fraction-in-collision greater than epsilon. More... | |
| double | epsilon = 1e-2 |
| Admissible fraction of the region volume allowed to be in collision. More... | |
| std::optional< Eigen::MatrixXd > | containment_points {std::nullopt} |
| Points that are guaranteed to be contained in the final region provided their convex hull is collision free. More... | |
| int | max_iterations {3} |
| Maximum number of alternations between the ellipsoid and the separating planes step (a.k.a. More... | |
| int | max_iterations_separating_planes {20} |
| Maximum number of rounds of adding faces to the polytope per outer iteration. More... | |
| int | max_separating_planes_per_iteration {-1} |
| Maximum number of faces to add per inner iteration. More... | |
| int | bisection_steps {10} |
| Maximum number of bisection steps. More... | |
| Parallelism | parallelism {Parallelism::Max()} |
| Number of threads to use when updating the particles. More... | |
| bool | verbose {false} |
| Enables print statements indicating the progress of IrisZo. More... | |
| bool | require_sample_point_is_contained {true} |
| The initial polytope is guaranteed to contain the point if that point is collision-free. More... | |
| double | configuration_space_margin {1e-2} |
| We retreat by this margin from each C-space obstacle in order to avoid the possibility of requiring an infinite number of faces to approximate a curved boundary. More... | |
| double | termination_threshold {2e-2} |
| IRIS will terminate if the change in the volume of the hyperellipsoid between iterations is less that this threshold. More... | |
| double | relative_termination_threshold {1e-3} |
| IRIS will terminate if the change in the volume of the hyperellipsoid between iterations is less that this percent of the previous best volume. More... | |
| int | random_seed {1234} |
| This option sets the random seed for random sampling throughout the algorithm. More... | |
| int | mixing_steps {50} |
| Number of mixing steps used for hit-and-run sampling. More... | |
| std::shared_ptr< geometry::Meshcat > | meshcat {} |
| Passing a meshcat instance may enable debugging visualizations; this currently and when the configuration space is <= 3 dimensional. More... | |
|
default |
| void Serialize | ( | Archive * | a | ) |
Passes this object to an Archive.
Refer to YAML Serialization for background. Note: This only serializes options that are YAML built-in types.
| int bisection_steps {10} |
Maximum number of bisection steps.
| double configuration_space_margin {1e-2} |
We retreat by this margin from each C-space obstacle in order to avoid the possibility of requiring an infinite number of faces to approximate a curved boundary.
| std::optional<Eigen::MatrixXd> containment_points {std::nullopt} |
Points that are guaranteed to be contained in the final region provided their convex hull is collision free.
Note that if the containment points are closer than configuration_margin to an obstacle we will relax the margin in favor of including the containment points. The matrix containment_points is expected to be of the shape dimension times number of points. IrisZo throws if the center of the starting ellipsoid is not contained in the convex hull of these containment points.
| double delta = 5e-2 |
Upper bound on the probability the returned region has a fraction-in-collision greater than epsilon.
| double epsilon = 1e-2 |
Admissible fraction of the region volume allowed to be in collision.
| int max_iterations {3} |
Maximum number of alternations between the ellipsoid and the separating planes step (a.k.a.
outer iterations).
| int max_iterations_separating_planes {20} |
Maximum number of rounds of adding faces to the polytope per outer iteration.
| int max_separating_planes_per_iteration {-1} |
Maximum number of faces to add per inner iteration.
Setting the value to -1 means there is no limit to the number of faces that can be added.
| std::shared_ptr<geometry::Meshcat> meshcat {} |
Passing a meshcat instance may enable debugging visualizations; this currently and when the configuration space is <= 3 dimensional.
| int mixing_steps {50} |
Number of mixing steps used for hit-and-run sampling.
| int num_particles = 1e3 |
Number of particles used to estimate the closest collision.
| Parallelism parallelism {Parallelism::Max()} |
Number of threads to use when updating the particles.
If the user requests more threads than the CollisionChecker supports, that number of threads will be used instead.
| int random_seed {1234} |
This option sets the random seed for random sampling throughout the algorithm.
| double relative_termination_threshold {1e-3} |
IRIS will terminate if the change in the volume of the hyperellipsoid between iterations is less that this percent of the previous best volume.
This termination condition can be disabled by setting to a negative value.
| bool require_sample_point_is_contained {true} |
The initial polytope is guaranteed to contain the point if that point is collision-free.
| double tau = 0.5 |
Decision threshold for the unadaptive test.
Choosing a small value increases both the cost and the power statistical test. Increasing the value of tau makes running an individual test cheaper but decreases its power to accept a polytope. We find choosing a value of 0.5 a good trade-off.
| double termination_threshold {2e-2} |
IRIS will terminate if the change in the volume of the hyperellipsoid between iterations is less that this threshold.
This termination condition can be disabled by setting to a negative value.
| bool verbose {false} |
Enables print statements indicating the progress of IrisZo.