Binding< C > Class Template Reference

Detailed Description

template<typename C>
class drake::solvers::Binding< C >

A binding on constraint type C is a mapping of the decision variables onto the inputs of C.

This allows the constraint to operate on a vector made up of different elements of the decision variables.

#include <drake/solvers/binding.h>

Public Member Functions
	Binding (const std::shared_ptr< C > &c, const Eigen::Ref< const VectorXDecisionVariable > &v)
	Binding (const std::shared_ptr< C > &c, const VariableRefList &v)
	Concatenates each VectorDecisionVariable object in v into a single column vector, binds this column vector of decision variables with the constraint c. More...
template<typename U >
	Binding (const Binding< U > &b, typename std::enable_if_t< std::is_convertible_v< std::shared_ptr< U >, std::shared_ptr< C >>> *=nullptr)
const std::shared_ptr< C > &	evaluator () const
const VectorXDecisionVariable &	variables () const
bool	ContainsVariable (const symbolic::Variable &var) const
	Returns true iff the given var is included in this Binding. More...
size_t	GetNumElements () const
	Returns the number of variables associated with this evaluator. More...
std::string	to_string () const
	Returns string representation of Binding. More...
std::string	ToLatex (int precision=3) const
	Returns a LaTeX description of this Binding. More...
bool	operator== (const Binding< C > &other) const
	Compare two bindings based on their evaluator pointers and the bound variables. More...
bool	operator!= (const Binding< C > &other) const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Binding (const Binding &)=default
Binding &	operator= (const Binding &)=default
	Binding (Binding &&)=default
Binding &	operator= (Binding &&)=default

Friends
template<class HashAlgorithm >
void	hash_append (HashAlgorithm &hasher, const Binding< C > &item) noexcept
	Implements the hash_append generic hashing concept. More...

Constructor & Destructor Documentation

Binding() [1/5]

Binding ( const Binding< C > &  )

default

Binding() [2/5]

Binding ( Binding< C > &&  )

default

Binding() [3/5]

Binding	(	const std::shared_ptr< C > &	c,
		const Eigen::Ref< const VectorXDecisionVariable > &	v
	)

Binding() [4/5]

Binding	(	const std::shared_ptr< C > &	c,
		const VariableRefList &	v
	)

Concatenates each VectorDecisionVariable object in v into a single column vector, binds this column vector of decision variables with the constraint c.

Binding() [5/5]

Binding	(	const Binding< U > &	b,
		typename std::enable_if_t< std::is_convertible_v< std::shared_ptr< U >, std::shared_ptr< C >>> *	= nullptr
	)

Member Function Documentation

ContainsVariable()

bool ContainsVariable

(

const symbolic::Variable &

var

)

const

Returns true iff the given var is included in this Binding.

evaluator()

const std::shared_ptr<C>& evaluator

(

)

const

GetNumElements()

size_t GetNumElements

(

)

const

Returns the number of variables associated with this evaluator.

operator!=()

bool operator!=

(

const Binding< C > &

other

)

const

operator=() [1/2]

Binding& operator= ( Binding< C > &&  )

default

operator=() [2/2]

Binding& operator= ( const Binding< C > &  )

default

operator==()

bool operator==

(

const Binding< C > &

other

)

const

Compare two bindings based on their evaluator pointers and the bound variables.

to_string()

std::string to_string

(

)

const

Returns string representation of Binding.

ToLatex()

std::string ToLatex

(

int

precision = 3

)

const

Returns a LaTeX description of this Binding.

Does not include any characters to enter/exit math mode; you might want, e.g. "$$" + evaluator.ToLatex() + "$$".

variables()

const VectorXDecisionVariable& variables

(

)

const

Friends And Related Function Documentation

hash_append

void hash_append ( HashAlgorithm &  hasher, const Binding< C > &  item  )

friend

Implements the hash_append generic hashing concept.

---

The documentation for this class was generated from the following file:

• drake/solvers/binding.h