Compute maximum distance via sampling #21838
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I'd prefer to not resort to sampling unless we need to. I've opened https://robotlocomotion.slack.com/archives/C0JH2GSUR/p1724321626756439 to discuss. |
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Reviewable status: 1 unresolved discussion, LGTM missing from assignee RussTedrake(platform), needs at least two assigned reviewers, missing label for release notes (waiting on @wrangelvid)
geometry/optimization/convex_set.h line 286 at r1 (raw file):
relative accuracy @throws if ambient_dimension() == 0. */ double CalcMaximumDistanceViaSampling(RandomGenerator* generator,
Where is the pair? What is the exact definition of distance?
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Reviewable status: 1 unresolved discussion, LGTM missing from assignee RussTedrake(platform), needs at least two assigned reviewers, missing label for release notes
geometry/optimization/convex_set.h line 286 at r1 (raw file):
Previously, sadraddini (Sadra Sadraddini) wrote…
Where is the pair? What is the exact definition of distance?
Good catch, thanks!
Computes the maximum distance of a convex set via sampling. This is especially useful for hpolytopes generated via IRIS where we often can't (or don't want to) compute all the vertices to then compute the maximum distance.
Towards #21460 .
This change is