visibility_graph.h File Reference

#include <Eigen/Sparse>
#include "drake/common/parallelism.h"
#include "drake/planning/collision_checker.h"

Include dependency graph for visibility_graph.h:

Namespaces
	drake
	drake::planning

Functions
Eigen::SparseMatrix< bool >	VisibilityGraph (const CollisionChecker &checker, const Eigen::Ref< const Eigen::MatrixXd > &points, Parallelism parallelize=Parallelism::Max())
	Given some number of sampled points in the configuration space of checker's plant(), computes the "visibility graph" – two points have an edge between them if the line segment connecting them is collision free. More...