Documentation: RobotLocomotion/drake@c1856c2

Author: drake-jenkins-bot

doxygen_cxx/classdrake_1_1geometry_1_1optimization_1_1_v_polytope-members.html

@@ -180,7 +180,7 @@
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html#aaed64b9f6964c517f8404829282b3184">DoIsBoundedShortcutParallel</a>(Parallelism) const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html">ConvexSet</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html#ab0bb24996d3355ce6cf6dcb07a0d64a6">DoPointInSetShortcut</a>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x, double tol) const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html">ConvexSet</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html#aaacbd0a682d985194c7d94d6acdb50f3">DoProjectionShortcut</a>(const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;points, EigenPtr&lt; Eigen::MatrixXd &gt; projected_points) const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html">ConvexSet</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html#ad5d589780714066f1e6a1118a8e5a83e">GetMinimalRepresentation</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html">VPolytope</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html#ab77cdc3c65cb978d81270a8f352e4287">GetMinimalRepresentation</a>(double tol=1e-9) const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html">VPolytope</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html#a7da589d9fc72f5064b7bbc48a97d0845">HandleZeroAmbientDimensionConstraints</a>(solvers::MathematicalProgram *prog, const ConvexSet &amp;set, std::vector&lt; solvers::Binding&lt; solvers::Constraint &gt;&gt; *constraints) const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html">ConvexSet</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html#a7d9beaa673ec9f46fcf52eb4c49b62bd">has_exact_volume</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html">ConvexSet</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html#a9cf0f6eaece284fabedbab39956a0938">IntersectsWith</a>(const ConvexSet &amp;other) const</td><td class="entry"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_convex_set.html">ConvexSet</a></td><td class="entry"></td></tr>

doxygen_cxx/classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html

@@ -190,9 +190,9 @@
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-<tr class="memitem:ad5d589780714066f1e6a1118a8e5a83e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html">VPolytope</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html#ad5d589780714066f1e6a1118a8e5a83e">GetMinimalRepresentation</a> () const</td></tr>
-<tr class="memdesc:ad5d589780714066f1e6a1118a8e5a83e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html" title="A polytope described using the vertex representation.">VPolytope</a> whose vertices are guaranteed to be minimal, i.e., if we remove any point from its vertices, then the convex hull of the remaining vertices is a strict subset of the polytope.  <a href="#ad5d589780714066f1e6a1118a8e5a83e">More...</a><br /></td></tr>
-<tr class="separator:ad5d589780714066f1e6a1118a8e5a83e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab77cdc3c65cb978d81270a8f352e4287"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html">VPolytope</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html#ab77cdc3c65cb978d81270a8f352e4287">GetMinimalRepresentation</a> (<a class="el" href="classdouble.html">double</a> tol=1e-9) const</td></tr>
+<tr class="memdesc:ab77cdc3c65cb978d81270a8f352e4287"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a new <a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html" title="A polytope described using the vertex representation.">VPolytope</a> whose vertices are guaranteed to be minimal, i.e., if we remove any point from its vertices, then the convex hull of the remaining vertices is a strict subset of the polytope.  <a href="#ab77cdc3c65cb978d81270a8f352e4287">More...</a><br /></td></tr>
+<tr class="separator:ab77cdc3c65cb978d81270a8f352e4287"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a893af2ada07d691fd0f87888cc3f9ca4"><td class="memItemLeft" align="right" valign="top">const Eigen::MatrixXd &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html#a893af2ada07d691fd0f87888cc3f9ca4">vertices</a> () const</td></tr>
 <tr class="memdesc:a893af2ada07d691fd0f87888cc3f9ca4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the vertices in a d-by-n matrix, where d is the ambient dimension, and n is the number of vertices.  <a href="#a893af2ada07d691fd0f87888cc3f9ca4">More...</a><br /></td></tr>
 <tr class="separator:a893af2ada07d691fd0f87888cc3f9ca4"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -537,23 +537,24 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7a2847efc4f87e996464d9d7
 
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-<a id="ad5d589780714066f1e6a1118a8e5a83e"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ad5d589780714066f1e6a1118a8e5a83e">&#9670;&nbsp;</a></span>GetMinimalRepresentation()</h2>
+<a id="ab77cdc3c65cb978d81270a8f352e4287"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab77cdc3c65cb978d81270a8f352e4287">&#9670;&nbsp;</a></span>GetMinimalRepresentation()</h2>
 
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           <td class="memname"><a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html">VPolytope</a> GetMinimalRepresentation </td>
           <td>(</td>
-          <td class="paramname"></td><td>)</td>
+          <td class="paramtype"><a class="el" href="classdouble.html">double</a>&#160;</td>
+          <td class="paramname"><em>tol</em> = <code>1e-9</code></td><td>)</td>
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 <p>Creates a new <a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html" title="A polytope described using the vertex representation.">VPolytope</a> whose vertices are guaranteed to be minimal, i.e., if we remove any point from its vertices, then the convex hull of the remaining vertices is a strict subset of the polytope. </p>
-<p>In the 2D case the vertices of the new <a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html" title="A polytope described using the vertex representation.">VPolytope</a> are ordered counter-clockwise from the negative X axis. For all other cases an order is not guaranteed. </p>
+<p>In the 2D case the vertices of the new <a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html" title="A polytope described using the vertex representation.">VPolytope</a> are ordered counter-clockwise from the negative X axis. For all other cases an order is not guaranteed. If the <a class="el" href="classdrake_1_1geometry_1_1optimization_1_1_v_polytope.html" title="A polytope described using the vertex representation.">VPolytope</a> is not full-dimensional, we perform computations in a coordinate system of its affine hull. <code>tol</code> specifies the numerical tolerance used in the computation of the affine hull. </p>
 
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doxygen_cxx/classdrake_1_1geometry_1_1optimization_1_1_v_polytope.js

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