Drake
Drake C++ Documentation

Detailed Description

A constraint is a function + lower and upper bounds.

Solver interfaces must acknowledge that these constraints are mutable. Parameters can change after the constraint is constructed and before the call to Solve().

It should support evaluating the constraint, and adding it to an optimization problem.

#include <drake/solvers/constraint.h>

Public Member Functions

template<typename DerivedLB , typename DerivedUB >
 Constraint (int num_constraints, int num_vars, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub, const std::string &description="")
 Constructs a constraint which has num_constraints rows, with an input num_vars x 1 vector. More...
 
 Constraint (int num_constraints, int num_vars)
 Constructs a constraint which has num_constraints rows, with an input num_vars x 1 vector, with no bounds. More...
 
bool CheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, double tol=1E-6) const
 Return whether this constraint is satisfied by the given value, x. More...
 
bool CheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, double tol=1E-6) const
 
symbolic::Formula CheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable >> &x) const
 
const Eigen::VectorXd & lower_bound () const
 
const Eigen::VectorXd & upper_bound () const
 
int num_constraints () const
 Number of rows in the output constraint. More...
 
Does not allow copy, move, or assignment
 Constraint (const Constraint &)=delete
 
Constraintoperator= (const Constraint &)=delete
 
 Constraint (Constraint &&)=delete
 
Constraintoperator= (Constraint &&)=delete
 
- Public Member Functions inherited from EvaluatorBase
virtual ~EvaluatorBase ()
 
void Eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const
 Evaluates the expression. More...
 
void Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
 Evaluates the expression. More...
 
void Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const
 Evaluates the expression. More...
 
void set_description (const std::string &description)
 Set a human-friendly description for the evaluator. More...
 
const std::string & get_description () const
 Getter for a human-friendly description for the evaluator. More...
 
std::ostream & Display (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
 Formats this evaluator into the given stream using vars for the bound decision variable names. More...
 
std::ostream & Display (std::ostream &os) const
 Formats this evaluator into the given stream, without displaying the decision variables it is bound to. More...
 
std::string ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
 Returns a LaTeX string describing this evaluator. More...
 
int num_vars () const
 Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y). More...
 
int num_outputs () const
 Getter for the number of outputs, namely the number of rows in y, as used in Eval(x, y). More...
 
void SetGradientSparsityPattern (const std::vector< std::pair< int, int >> &gradient_sparsity_pattern)
 Set the sparsity pattern of the gradient matrix ∂y/∂x (the gradient of y value in Eval, w.r.t x in Eval) . More...
 
const std::optional< std::vector< std::pair< int, int > > > & gradient_sparsity_pattern () const
 Returns the vector of (row_index, col_index) that contains all the entries in the gradient of Eval function (∂y/∂x) whose value could be non-zero, namely if ∂yᵢ/∂xⱼ could be non-zero, then the pair (i, j) is in gradient_sparsity_pattern. More...
 
 EvaluatorBase (const EvaluatorBase &)=delete
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (EvaluatorBase &&)=delete
 

Protected Member Functions

void UpdateLowerBound (const Eigen::Ref< const Eigen::VectorXd > &new_lb)
 Updates the lower bound. More...
 
void UpdateUpperBound (const Eigen::Ref< const Eigen::VectorXd > &new_ub)
 Updates the upper bound. More...
 
void set_bounds (const Eigen::Ref< const Eigen::VectorXd > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
 Set the upper and lower bounds of the constraint. More...
 
virtual bool DoCheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, const double tol) const
 
virtual bool DoCheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, const double tol) const
 
virtual symbolic::Formula DoCheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable >> &x) const
 
- Protected Member Functions inherited from EvaluatorBase
 EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
 Constructs a evaluator. More...
 
virtual void DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const =0
 Implements expression evaluation for scalar type double. More...
 
virtual void DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const =0
 Implements expression evaluation for scalar type AutoDiffXd. More...
 
virtual void DoEval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const =0
 Implements expression evaluation for scalar type symbolic::Expression. More...
 
virtual std::ostream & DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
 NVI implementation of Display. More...
 
virtual std::string DoToLatex (const VectorX< symbolic::Variable > &vars, int precision) const
 
void set_num_outputs (int num_outputs)
 

Constructor & Destructor Documentation

◆ Constraint() [1/4]

Constraint ( const Constraint )
delete

◆ Constraint() [2/4]

Constraint ( Constraint &&  )
delete

◆ Constraint() [3/4]

Constraint ( int  num_constraints,
int  num_vars,
const Eigen::MatrixBase< DerivedLB > &  lb,
const Eigen::MatrixBase< DerivedUB > &  ub,
const std::string &  description = "" 
)

Constructs a constraint which has num_constraints rows, with an input num_vars x 1 vector.

Parameters
num_constraints.The number of rows in the constraint output.
num_vars.The number of rows in the input. If the input dimension is unknown, then set num_vars to Eigen::Dynamic.
lbLower bound, which must be a num_constraints x 1 vector.
ubUpper bound, which must be a num_constraints x 1 vector.
See also
Eval(...)

◆ Constraint() [4/4]

Constraint ( int  num_constraints,
int  num_vars 
)

Constructs a constraint which has num_constraints rows, with an input num_vars x 1 vector, with no bounds.

Parameters
num_constraints.The number of rows in the constraint output.
num_vars.The number of rows in the input. If the input dimension is unknown, then set num_vars to Eigen::Dynamic.
See also
Eval(...)

Member Function Documentation

◆ CheckSatisfied() [1/3]

bool CheckSatisfied ( const Eigen::Ref< const Eigen::VectorXd > &  x,
double  tol = 1E-6 
) const

Return whether this constraint is satisfied by the given value, x.

Parameters
xA num_vars x 1 vector.
tolA tolerance for bound checking.

◆ CheckSatisfied() [2/3]

bool CheckSatisfied ( const Eigen::Ref< const AutoDiffVecXd > &  x,
double  tol = 1E-6 
) const

◆ CheckSatisfied() [3/3]

symbolic::Formula CheckSatisfied ( const Eigen::Ref< const VectorX< symbolic::Variable >> &  x) const

◆ DoCheckSatisfied() [1/3]

virtual bool DoCheckSatisfied ( const Eigen::Ref< const Eigen::VectorXd > &  x,
const double  tol 
) const
protectedvirtual

◆ DoCheckSatisfied() [2/3]

virtual bool DoCheckSatisfied ( const Eigen::Ref< const AutoDiffVecXd > &  x,
const double  tol 
) const
protectedvirtual

◆ DoCheckSatisfied() [3/3]

virtual symbolic::Formula DoCheckSatisfied ( const Eigen::Ref< const VectorX< symbolic::Variable >> &  x) const
protectedvirtual

◆ lower_bound()

const Eigen::VectorXd& lower_bound ( ) const

◆ num_constraints()

int num_constraints ( ) const

Number of rows in the output constraint.

◆ operator=() [1/2]

Constraint& operator= ( Constraint &&  )
delete

◆ operator=() [2/2]

Constraint& operator= ( const Constraint )
delete

◆ set_bounds()

void set_bounds ( const Eigen::Ref< const Eigen::VectorXd > &  new_lb,
const Eigen::Ref< const Eigen::VectorXd > &  new_ub 
)
protected

Set the upper and lower bounds of the constraint.

Parameters
new_lb. A num_constraints x 1 vector.
new_ub.A num_constraints x 1 vector.
Note
If the users want to expose this method in a sub-class, do using Constraint::set_bounds, as in LinearConstraint.

◆ UpdateLowerBound()

void UpdateLowerBound ( const Eigen::Ref< const Eigen::VectorXd > &  new_lb)
protected

Updates the lower bound.

Note
if the users want to expose this method in a sub-class, do using Constraint::UpdateLowerBound, as in LinearConstraint.

◆ UpdateUpperBound()

void UpdateUpperBound ( const Eigen::Ref< const Eigen::VectorXd > &  new_ub)
protected

Updates the upper bound.

Note
if the users want to expose this method in a sub-class, do using Constraint::UpdateUpperBound, as in LinearConstraint.

◆ upper_bound()

const Eigen::VectorXd& upper_bound ( ) const

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