Documentation: RobotLocomotion/drake@a4f1799

Author: drake-jenkins-bot

doxygen_cxx/classdrake_1_1geometry_1_1_box.html

@@ -340,7 +340,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad39839897f916b4f52411f3e
 <p>Constructs a box with the given <code>width</code>, <code>depth</code>, and <code>height</code>, which specify the box's dimension along the canonical x-, y-, and z-axes, respectively. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>width</code>, <code>depth</code> or <code>height</code> are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>
@@ -374,7 +374,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac77e708fba013f00ffee10a9
 <p>Constructs a box with a vector of measures: width, depth, and height &ndash; the box's dimensions along the canonical x-, y-, and z-axes, respectively. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the measures are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>
@@ -470,6 +470,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa80d8c904b883919032c448e
 </div><div class="memdoc">
 
 <p>Constructs a cube with the given <code>edge_size</code> for its width, depth, and height. </p>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">std::exception</td><td>if edge_size is not finite positive. </td></tr>
+  </table>
+  </dd>
+</dl>
 
 </div>
 </div>

doxygen_cxx/classdrake_1_1geometry_1_1_capsule.html

@@ -319,7 +319,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aab3c2936341e05e0ffb3b13d
 <p>Constructs a capsule with the given <code>radius</code> and <code>length</code>. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>radius</code> or <code>length</code> are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>
@@ -353,7 +353,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a620c261a7d4e78fa28b94e7f
 <p>Constructs a capsule with a vector of measures: radius and length. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the measures are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>

doxygen_cxx/classdrake_1_1geometry_1_1_cylinder.html

@@ -319,7 +319,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab1683c1d8c02a0c1e6f27bbe
 <p>Constructs a cylinder with the given <code>radius</code> and <code>length</code>. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>radius</code> or <code>length</code> are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>
@@ -353,7 +353,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a767ed95fe1f4141b796f975f
 <p>Constructs a cylinder with a vector of measures: radius and length. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the measures are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>

doxygen_cxx/classdrake_1_1geometry_1_1_ellipsoid.html

@@ -328,7 +328,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a91d7c0f61cf354524fb6b418
 <p>Constructs an ellipsoid with the given lengths of its principal semi-axes, with a, b, and c measured along the x-, y-, and z- axes of the canonical frame, respectively. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>a</code>, <code>b</code>, or <code>c</code> are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>
@@ -362,7 +362,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a689e23eefd20b186b769cd2b
 <p>Constructs an ellipsoid with a vector of measures: the lengths of its principal semi-axes, with a, b, and c measured along the x-, y-, and z- axes of the canonical frame, respectively. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the measures are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>

doxygen_cxx/classdrake_1_1geometry_1_1_meshcat_cone.html

@@ -337,7 +337,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a680ad71a545f71d0a2828af6
 <p>Constructs the parameterized cone. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>height</code>, <code>a</code>, or <code>b</code> are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>
@@ -371,7 +371,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#acda8b1b5eeb0bd07ef50afee
 <p>Constructs a cone with a vector of measures: height and principal semi-axes. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if the measures are not strictly positive. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if any measure is not finite positive. </td></tr>
   </table>
   </dd>
 </dl>

doxygen_cxx/classdrake_1_1geometry_1_1_sphere.html

@@ -312,7 +312,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad4eb22638a3841217373d2ca
 <p>Constructs a sphere with the given <code>radius</code>. </p>
 <dl class="exception"><dt>Exceptions</dt><dd>
   <table class="exception">
-    <tr><td class="paramname">std::exception</td><td>if <code>radius</code> is negative. Note that a zero radius is considered valid. </td></tr>
+    <tr><td class="paramname">std::exception</td><td>if <code>radius</code> is not finite <em>non-negative</em>. Note that a zero radius is considered valid. </td></tr>
   </table>
   </dd>
 </dl>

doxygen_cxx/classdrake_1_1planning_1_1_common_sampled_iris_options-members.html

@@ -184,13 +184,14 @@
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#aafcf4ea1cbea01d087cc559402acddf2">prog_with_additional_constraints</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#ad9059bc845096b2f05414a66c836b4ee">random_seed</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a49f1367efbb0c0efddaec6ed273e8bb7">relative_termination_threshold</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#aee2200b9b87fb1c11f98a3c8627d6f65">remove_all_collisions_possible</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a20906a34b629e819d5d8a8df41638c2d">require_sample_point_is_contained</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a1fdf17311fa6dd33bb98cf7ead3dcdbd">sample_particles_in_parallel</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a8e8824802dedfbc36776227f7482b6bc">Serialize</a>(Archive *a)</td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#ae5f7c26321910a384f6f0d37910858a2">tau</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a11a479517bfa7e6c3d669c72380924ca">termination_threshold</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#ab3f078684998b83967d507d0f453f454">verbose</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#af2c427737107c914f2653e13fb8c30b8">relax_margin</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#aee2200b9b87fb1c11f98a3c8627d6f65">remove_all_collisions_possible</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a20906a34b629e819d5d8a8df41638c2d">require_sample_point_is_contained</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a1fdf17311fa6dd33bb98cf7ead3dcdbd">sample_particles_in_parallel</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a8e8824802dedfbc36776227f7482b6bc">Serialize</a>(Archive *a)</td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#ae5f7c26321910a384f6f0d37910858a2">tau</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a11a479517bfa7e6c3d669c72380924ca">termination_threshold</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#ab3f078684998b83967d507d0f453f454">verbose</a></td><td class="entry"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html">CommonSampledIrisOptions</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
 </div><!-- doc-content -->
 <!-- footer -->

doxygen_cxx/classdrake_1_1planning_1_1_common_sampled_iris_options.html

@@ -227,6 +227,9 @@
 <tr class="memitem:a033befdd75124d17abb45b56c75a71db"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdouble.html">double</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a033befdd75124d17abb45b56c75a71db">configuration_space_margin</a> {1e-2}</td></tr>
 <tr class="memdesc:a033befdd75124d17abb45b56c75a71db"><td class="mdescLeft">&#160;</td><td class="mdescRight">We retreat by this margin from each C-space obstacle in order to avoid the possibility of requiring an infinite number of faces to approximate a curved boundary.  <a href="#a033befdd75124d17abb45b56c75a71db">More...</a><br /></td></tr>
 <tr class="separator:a033befdd75124d17abb45b56c75a71db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2c427737107c914f2653e13fb8c30b8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#af2c427737107c914f2653e13fb8c30b8">relax_margin</a> {false}</td></tr>
+<tr class="memdesc:af2c427737107c914f2653e13fb8c30b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Suppose stepping back by configuration_space_margin would cut off the seed point.  <a href="#af2c427737107c914f2653e13fb8c30b8">More...</a><br /></td></tr>
+<tr class="separator:af2c427737107c914f2653e13fb8c30b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a11a479517bfa7e6c3d669c72380924ca"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdouble.html">double</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1planning_1_1_common_sampled_iris_options.html#a11a479517bfa7e6c3d669c72380924ca">termination_threshold</a> {2e-2}</td></tr>
 <tr class="memdesc:a11a479517bfa7e6c3d669c72380924ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">IRIS will terminate if the change in the <em>volume</em> of the hyperellipsoid between iterations is less that this threshold.  <a href="#a11a479517bfa7e6c3d669c72380924ca">More...</a><br /></td></tr>
 <tr class="separator:a11a479517bfa7e6c3d669c72380924ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -637,6 +640,23 @@ <h2 class="memtitle"><span class="permalink"><a href="#a49f1367efbb0c0efddaec6ed
 <p>IRIS will terminate if the change in the <em>volume</em> of the hyperellipsoid between iterations is less that this percent of the previous best volume. </p>
 <p>This termination condition can be disabled by setting to a negative value. </p>
 
+</div>
+</div>
+<a id="af2c427737107c914f2653e13fb8c30b8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2c427737107c914f2653e13fb8c30b8">&#9670;&nbsp;</a></span>relax_margin</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool relax_margin {false}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Suppose stepping back by configuration_space_margin would cut off the seed point. </p>
+<p>If <code>relax_margin</code> is false, we throw an error, and if <code>relax_margin</code> is true, we repeatedly divide configuration_space_margin by two (for that hyperplane only) until the seed point is not cut off. Ignored if the user has provided <code>containment_points</code>. </p>
+
 </div>
 </div>
 <a id="aee2200b9b87fb1c11f98a3c8627d6f65"></a>

doxygen_cxx/classdrake_1_1planning_1_1_common_sampled_iris_options.js

@@ -382,7 +382,7 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 : <a class="el" href="classdrake_1_1math_1_1_linear_solver.html#acc37b898316108f2fcc15630a2ab2ccd">LinearSolver&lt; LinearSolverType, DerivedA &gt;</a>
 </li>
 <li>LinearSpringDamper()
-: <a class="el" href="classdrake_1_1multibody_1_1_linear_spring_damper.html#a7913c443a9b8d178ec351e5e46957e60">LinearSpringDamper&lt; T &gt;</a>
+: <a class="el" href="classdrake_1_1multibody_1_1_linear_spring_damper.html#aa86d149c16b942efb4c20ffcc90c91b0">LinearSpringDamper&lt; T &gt;</a>
 </li>
 <li>LinearSystem()
 : <a class="el" href="classdrake_1_1systems_1_1_linear_system.html#ae145dc8b64927588ad2124efb1c46492">LinearSystem&lt; T &gt;</a>
@@ -422,7 +422,7 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 , <a class="el" href="classdrake_1_1multibody_1_1_rigid_body.html#a50c7f850050d4a94641ed72dd2d1968f">RigidBody&lt; T &gt;</a>
 </li>
 <li>LogisticSystem()
-: <a class="el" href="classdrake_1_1systems_1_1analysis__test_1_1_logistic_system.html#ad7c82388047552895863757468a2a02d">LogisticSystem&lt; T &gt;</a>
+: <a class="el" href="classdrake_1_1systems_1_1analysis__test_1_1_logistic_system.html#a6648487e19ac4c23d63fd1b92b75cb0f">LogisticSystem&lt; T &gt;</a>
 </li>
 <li>loop_mode()
 : <a class="el" href="classdrake_1_1geometry_1_1_meshcat_animation.html#a1efc50039c93dc5271d939b82d89db25">MeshcatAnimation</a>
@@ -442,7 +442,7 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 , <a class="el" href="classdrake_1_1systems_1_1_system_constraint.html#af82995c25d1c99a8ec676ffd7ec92204">SystemConstraint&lt; T &gt;</a>
 </li>
 <li>LuenbergerObserver()
-: <a class="el" href="classdrake_1_1systems_1_1estimators_1_1_luenberger_observer.html#aad627f771b16f15ab12904fde13e5f86">LuenbergerObserver&lt; T &gt;</a>
+: <a class="el" href="classdrake_1_1systems_1_1estimators_1_1_luenberger_observer.html#aec8654f6fef2f02fae53910ff4319980">LuenbergerObserver&lt; T &gt;</a>
 </li>
 </ul>
 </div><!-- contents -->