Detailed Description

RaySamplerOptions contains settings specific to the kRaySampler strategy for drawing the initial samples.

#include <drake/planning/iris/iris_np2.h>

Public Member Functions
template<typename Archive >
void	Serialize (Archive *a)
	Passes this object to an Archive. More...

Public Attributes
bool	only_walk_toward_collisions {false}
	If true, the ray stepping strategy is only applied to samples which are initially in collision. More...

int	ray_search_num_steps {10}
	The step size for the ray search is defined per-particle, as the distance between the current ellipsoid center and the particle, divided by this option. More...

int	num_particles_to_walk_towards {200}
	The number of particles to step towards. More...

Member Function Documentation

◆ Serialize()

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.

Member Data Documentation

◆ num_particles_to_walk_towards

int num_particles_to_walk_towards {200}

The number of particles to step towards.

Ignored if only_walk_toward_collisions is true, because we walk toward all collisions in that case. Must be at least 1.

◆ only_walk_toward_collisions

bool only_walk_toward_collisions {false}

If true, the ray stepping strategy is only applied to samples which are initially in collision.

If false, it is applied to all samples.

◆ ray_search_num_steps

int ray_search_num_steps {10}

The step size for the ray search is defined per-particle, as the distance between the current ellipsoid center and the particle, divided by this option.

A larger number requires more time for computing samples, but will lead to the samples in-collision being closer to the ellipsoid center, and higher quality hyperplanes. We choose a default value to roughly match the results in [Werner et al., 2024]. Must be at least 1.

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

drake/planning/iris/iris_np2.h