Documentation: RobotLocomotion/drake@91666aa

Author: drake-jenkins-bot

doxygen_cxx/annotated.html

@@ -679,13 +679,14 @@
 <tr id="row_0_11_14_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_iris_zo_options.html" target="_self">IrisZoOptions</a></td><td class="desc"><a class="el" href="classdrake_1_1planning_1_1_iris_zo_options.html" title="IrisZoOptions collects all parameters for the IRIS-ZO algorithm.">IrisZoOptions</a> collects all parameters for the IRIS-ZO algorithm </td></tr>
 <tr id="row_0_11_15_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_joint_limits.html" target="_self">JointLimits</a></td><td class="desc">Wrapper type for position, velocity, and acceleration limits </td></tr>
 <tr id="row_0_11_16_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_linear_distance_and_interpolation_provider.html" target="_self">LinearDistanceAndInterpolationProvider</a></td><td class="desc">This class represents a basic "linear" implementation of <a class="el" href="classdrake_1_1planning_1_1_distance_and_interpolation_provider.html" title="This class represents the base interface for performing configuration distance and interpolation oper...">DistanceAndInterpolationProvider</a> </td></tr>
-<tr id="row_0_11_17_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_clearance.html" target="_self">RobotClearance</a></td><td class="desc">A summary of the clearance &ndash; a collection of distance measurements &ndash; between the robot and everything in the world </td></tr>
-<tr id="row_0_11_18_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_diagram.html" target="_self">RobotDiagram</a></td><td class="desc">Storage for a combined diagram, plant, and scene graph </td></tr>
-<tr id="row_0_11_19_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_diagram_builder.html" target="_self">RobotDiagramBuilder</a></td><td class="desc">Storage for a combined diagram builder, plant, and scene graph </td></tr>
-<tr id="row_0_11_20_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_scene_graph_collision_checker.html" target="_self">SceneGraphCollisionChecker</a></td><td class="desc">An implementation of <a class="el" href="classdrake_1_1planning_1_1_collision_checker.html" title="Interface for collision checkers to use.">CollisionChecker</a> that uses SceneGraph to provide collision checks </td></tr>
-<tr id="row_0_11_21_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_unimplemented_collision_checker.html" target="_self">UnimplementedCollisionChecker</a></td><td class="desc">A concrete collision checker implementation that throws an exception for every virtual function hook </td></tr>
-<tr id="row_0_11_22_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_zmp_planner.html" target="_self">ZmpPlanner</a></td><td class="desc">Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parameterized as a piecewise polynomial, an optimal center of mass (CoM) trajectory is planned using a linear inverted pendulum model (LIPM) </td></tr>
-<tr id="row_0_11_23_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdrake_1_1planning_1_1_zmp_test_traj.html" target="_self">ZmpTestTraj</a></td><td class="desc">A structure for storing trajectories from simulating a linear inverted pendulum model (LIPM) using the policy from a <a class="el" href="classdrake_1_1planning_1_1_zmp_planner.html" title="Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parameterized as a piece...">ZmpPlanner</a> </td></tr>
+<tr id="row_0_11_17_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdrake_1_1planning_1_1_ray_sampler_options.html" target="_self">RaySamplerOptions</a></td><td class="desc"><a class="el" href="structdrake_1_1planning_1_1_ray_sampler_options.html" title="RaySamplerOptions contains settings specific to the kRaySampler strategy for drawing the initial samp...">RaySamplerOptions</a> contains settings specific to the kRaySampler strategy for drawing the initial samples </td></tr>
+<tr id="row_0_11_18_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_clearance.html" target="_self">RobotClearance</a></td><td class="desc">A summary of the clearance &ndash; a collection of distance measurements &ndash; between the robot and everything in the world </td></tr>
+<tr id="row_0_11_19_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_diagram.html" target="_self">RobotDiagram</a></td><td class="desc">Storage for a combined diagram, plant, and scene graph </td></tr>
+<tr id="row_0_11_20_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_robot_diagram_builder.html" target="_self">RobotDiagramBuilder</a></td><td class="desc">Storage for a combined diagram builder, plant, and scene graph </td></tr>
+<tr id="row_0_11_21_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_scene_graph_collision_checker.html" target="_self">SceneGraphCollisionChecker</a></td><td class="desc">An implementation of <a class="el" href="classdrake_1_1planning_1_1_collision_checker.html" title="Interface for collision checkers to use.">CollisionChecker</a> that uses SceneGraph to provide collision checks </td></tr>
+<tr id="row_0_11_22_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_unimplemented_collision_checker.html" target="_self">UnimplementedCollisionChecker</a></td><td class="desc">A concrete collision checker implementation that throws an exception for every virtual function hook </td></tr>
+<tr id="row_0_11_23_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1planning_1_1_zmp_planner.html" target="_self">ZmpPlanner</a></td><td class="desc">Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parameterized as a piecewise polynomial, an optimal center of mass (CoM) trajectory is planned using a linear inverted pendulum model (LIPM) </td></tr>
+<tr id="row_0_11_24_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdrake_1_1planning_1_1_zmp_test_traj.html" target="_self">ZmpTestTraj</a></td><td class="desc">A structure for storing trajectories from simulating a linear inverted pendulum model (LIPM) using the policy from a <a class="el" href="classdrake_1_1planning_1_1_zmp_planner.html" title="Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parameterized as a piece...">ZmpPlanner</a> </td></tr>
 <tr id="row_0_12_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_12_" class="arrow" onclick="toggleFolder('0_12_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacedrake_1_1pydrake.html" target="_self">pydrake</a></td><td class="desc">For more high-level information, see the <a class="el" href="group__python__bindings.html">Python Bindings</a> technical notes </td></tr>
 <tr id="row_0_12_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_0_12_0_" class="arrow" onclick="toggleFolder('0_12_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacedrake_1_1pydrake_1_1pysystems.html" target="_self">pysystems</a></td><td class="desc"></td></tr>
 <tr id="row_0_12_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrake_1_1pydrake_1_1_object.html" target="_self">Object</a></td><td class="desc">Provides a publicly visible, but minimal, re-implementation of <code>py::object</code> so that a public type can be used with <code><a class="el" href="classdrake_1_1_value.html" title="A container class for an arbitrary type T (with some restrictions).">drake::Value</a>&lt;T&gt;</code>, while still maintaining the revelant semantics with its generic implementation (#13207) </td></tr>

doxygen_cxx/classdrake_1_1planning_1_1_iris_np2_options-members.html

@@ -171,7 +171,9 @@
   <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#ac971611063027ec525fda61c4e1db952">operator=</a>(const IrisNp2Options &amp;)=default</td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html">IrisNp2Options</a></td><td class="entry"></td></tr>
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   <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#abc0d5447b03efcbc73d4cfdb20865aa4">parameterization</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html">IrisNp2Options</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#a2c74243889b1835c087d8160272e007a">ray_sampler_options</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html">IrisNp2Options</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#a6a02069c3e43c0097629cb4a6ea6fbbf">sampled_iris_options</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html">IrisNp2Options</a></td><td class="entry"></td></tr>
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   <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#a8e8824802dedfbc36776227f7482b6bc">Serialize</a>(Archive *a)</td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html">IrisNp2Options</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#a1717b842ef7560038a1ee8f5076d7721">solver</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html">IrisNp2Options</a></td><td class="entry"></td></tr>
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doxygen_cxx/classdrake_1_1planning_1_1_iris_np2_options.html

@@ -202,6 +202,12 @@
 <tr class="memitem:abc0d5447b03efcbc73d4cfdb20865aa4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1planning_1_1_iris_parameterization_function.html">IrisParameterizationFunction</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#abc0d5447b03efcbc73d4cfdb20865aa4">parameterization</a> {}</td></tr>
 <tr class="memdesc:abc0d5447b03efcbc73d4cfdb20865aa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameterization of the subspace along which to grow the region.  <a href="#abc0d5447b03efcbc73d4cfdb20865aa4">More...</a><br /></td></tr>
 <tr class="separator:abc0d5447b03efcbc73d4cfdb20865aa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a563c6feff7da2c1e28102c79ee70d2"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#a3a563c6feff7da2c1e28102c79ee70d2">sampling_strategy</a> {&quot;greedy&quot;}</td></tr>
+<tr class="memdesc:a3a563c6feff7da2c1e28102c79ee70d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Which sampling strategy to use when growing the region.  <a href="#a3a563c6feff7da2c1e28102c79ee70d2">More...</a><br /></td></tr>
+<tr class="separator:a3a563c6feff7da2c1e28102c79ee70d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c74243889b1835c087d8160272e007a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structdrake_1_1planning_1_1_ray_sampler_options.html">RaySamplerOptions</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1planning_1_1_iris_np2_options.html#a2c74243889b1835c087d8160272e007a">ray_sampler_options</a></td></tr>
+<tr class="memdesc:a2c74243889b1835c087d8160272e007a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Additional options for kRaySampler.  <a href="#a2c74243889b1835c087d8160272e007a">More...</a><br /></td></tr>
+<tr class="separator:a2c74243889b1835c087d8160272e007a"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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@@ -371,6 +377,23 @@ <h2 class="memtitle"><span class="permalink"><a href="#abc0d5447b03efcbc73d4cfdb
 <p>Parameterization of the subspace along which to grow the region. </p>
 <p>Default is the identity parameterization, corresponding to growing regions in the ordinary configuration space. </p>
 
+</div>
+</div>
+<a id="a2c74243889b1835c087d8160272e007a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c74243889b1835c087d8160272e007a">&#9670;&nbsp;</a></span>ray_sampler_options</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structdrake_1_1planning_1_1_ray_sampler_options.html">RaySamplerOptions</a> ray_sampler_options</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Additional options for kRaySampler. </p>
+<p>Ignored if kGreedySampler is used. </p>
+
 </div>
 </div>
 <a id="a6a02069c3e43c0097629cb4a6ea6fbbf"></a>
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 <p>Options common to IRIS-type algorithms. </p>
 
+</div>
+</div>
+<a id="a3a563c6feff7da2c1e28102c79ee70d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a563c6feff7da2c1e28102c79ee70d2">&#9670;&nbsp;</a></span>sampling_strategy</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string sampling_strategy {&quot;greedy&quot;}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Which sampling strategy to use when growing the region. </p>
+<p>Use "ray" for kRaySmpler, and "greedy" for kGreedySampler. kRaySampler finds collisions closer to the ellipsoid center in order to achieve more efficient hyperplane placement, yielding fewer hyperplanes in the resulting region, but may take more runtime than kGreedySampler. </p><dl class="section note"><dt>Note</dt><dd>See §5.3 of [Werner et al., 2024] for further details. </dd></dl>
+
 </div>
 </div>
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