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Copy file name to clipboardExpand all lines: doxygen_cxx/classdrake_1_1geometry_1_1optimization_1_1_h_polyhedron.html
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<trclass="memdesc:aff86786a71b7a4f6a0d8c8ad8c9f1eeb"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Reduces some (not necessarily all) redundant inequalities in the <aclass="el" href="classdrake_1_1geometry_1_1optimization_1_1_h_polyhedron.html" title="Implements a polyhedral convex set using the half-space representation: {x| A x ≤ b}...">HPolyhedron</a>. <br/></td></tr>
<trclass="memdesc:a196e1a9660d75079e2491b6b2492bb84"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns an inner approximation of <spanclass="tt">this</span>, aiming to use fewer faces. <br/></td></tr>
<trclass="memdesc:a04f14c9b5aa9f7a04bd9aa12185916ce"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Solves a semi-definite program to compute the maximum-volume affine transformation of <spanclass="tt">this</span>, subject to being a subset of <spanclass="tt">circumbody</span>, and subject to the transformation matrix being positive semi-definite. <br/></td></tr>
<trclass="memdesc:a0a98ccc6494f15c4e102ab99d3fbfd78"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Solves a semi-definite program to compute the maximum-volume affine transformation of <spanclass="tt">this</span>, subject to being a subset of <spanclass="tt">circumbody</span>, and subject to the transformation matrix being positive semi-definite. <br/></td></tr>
<trclass="memdesc:a74afcf0235bb70d4d936c093fbb85a5d"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Solves a semi-definite program to compute the inscribed ellipsoid. <br/></td></tr>
<dlclass="section pre"><dt>Precondition</dt><dd><spanclass="tt">this</span> is bounded. If <spanclass="tt">check_bounded</span> is true, this condition is checked and an exception is thrown if it is not satisfied. If <spanclass="tt">check_bounded</span> is set to false, then it is the user's responsibility to ensure that <spanclass="tt">this</span> is bounded and the result is not necessarily to be trusted if the precondition is not satisfied. </dd></dl>
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<dlclass="exception"><dt>Exceptions</dt><dd>
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<tr><tdclass="paramname">std::exception</td><td>if the solver fails to solve the problem. </td></tr>
<p>Proceeds by incrementally translating faces inward and removing other faces that become redundant upon doing so. </p><dlclass="params"><dt>Parameters</dt><dd>
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<tr><tdclass="paramname">min_volume_ratio</td><td>is a lower bound for the ratio of the volume of the returned inbody and the volume of <spanclass="tt">this</span>. </td></tr>
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<tr><tdclass="paramname">do_affine_transformation</td><td>specifies whether to call <aclass="el" href="#a04f14c9b5aa9f7a04bd9aa12185916ce" title="Solves a semi-definite program to compute the maximum-volume affine transformation of this,...">MaximumVolumeInscribedAffineTransformation()</a>, to take an affine transformation of the inner approximation to maximize its volume. The affine transformation is reverted if the resulting inner approximation violates conditions related to <spanclass="tt">points_to_contain</span> or <spanclass="tt">intersecting_polytopes</span>. </td></tr>
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<tr><tdclass="paramname">do_affine_transformation</td><td>specifies whether to call <aclass="el" href="#a0a98ccc6494f15c4e102ab99d3fbfd78" title="Solves a semi-definite program to compute the maximum-volume affine transformation of this,...">MaximumVolumeInscribedAffineTransformation()</a>, to take an affine transformation of the inner approximation to maximize its volume. The affine transformation is reverted if the resulting inner approximation violates conditions related to <spanclass="tt">points_to_contain</span> or <spanclass="tt">intersecting_polytopes</span>. </td></tr>
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<tr><tdclass="paramname">max_iterations</td><td>is the maximum number of times to loop through all faces. </td></tr>
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<tr><tdclass="paramname">points_to_contain</td><td>is an optional matrix whose columns are points that must be contained in the returned inbody. </td></tr>
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<tr><tdclass="paramname">intersecting_polytopes</td><td>is an optional list of HPolyhedrons that must intersect with the returned inbody. </td></tr>
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