Drake
EvaluatorConstraint< EvaluatorType > Class Template Reference

A constraint that may be specified using another (potentially nonlinear) evaluator. More...

#include <drake/solvers/constraint.h>

Inheritance diagram for EvaluatorConstraint< EvaluatorType >:
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Collaboration diagram for EvaluatorConstraint< EvaluatorType >:
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Public Member Functions

template<typename... Args>
 EvaluatorConstraint (const std::shared_ptr< EvaluatorType > &evaluator, Args &&...args)
 Constructs an evaluator constraint, given the EvaluatorType instance (which will specify the number of constraints and variables), and will forward the remaining arguments to the Constraint constructor. More...
 
Does not allow copy, move, or assignment
 EvaluatorConstraint (const EvaluatorConstraint &)=delete
 
EvaluatorConstraintoperator= (const EvaluatorConstraint &)=delete
 
 EvaluatorConstraint (EvaluatorConstraint &&)=delete
 
EvaluatorConstraintoperator= (EvaluatorConstraint &&)=delete
 
- Public Member Functions inherited from Constraint
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
 
const Eigen::VectorXd & lower_bound () const
 
const Eigen::VectorXd & upper_bound () const
 
size_t num_constraints () const
 Number of rows in the output constraint. More...
 
template<typename Derived >
void UpdateLowerBound (const Eigen::MatrixBase< Derived > &new_lb)
 Updates the lower bound. More...
 
template<typename Derived >
void UpdateUpperBound (const Eigen::MatrixBase< Derived > &new_ub)
 Updates the upper bound. More...
 
template<typename DerivedL , typename DerivedU >
void set_bounds (const Eigen::MatrixBase< DerivedL > &lower_bound, const Eigen::MatrixBase< DerivedU > &upper_bound)
 Set the upper and lower bounds of the constraint. More...
 
 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 with a scalar type of double. More...
 
void Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd &y) const
 Evaluates the expression with a scalar type of AutoDiffXd. 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...
 
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...
 
 EvaluatorBase (const EvaluatorBase &)=delete
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (EvaluatorBase &&)=delete
 

Protected Member Functions

const EvaluatorType & evaluator () const
 Reference to the nested evaluator. More...
 
- Protected Member Functions inherited from Constraint
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
 
- Protected Member Functions inherited from EvaluatorBase
 EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
 Constructs a evaluator. More...
 

Detailed Description

template<typename EvaluatorType = EvaluatorBase>
class drake::solvers::EvaluatorConstraint< EvaluatorType >

A constraint that may be specified using another (potentially nonlinear) evaluator.

Template Parameters
EvaluatorTypeThe nested evaluator.

Constructor & Destructor Documentation

EvaluatorConstraint ( const EvaluatorConstraint< EvaluatorType > &  )
delete
EvaluatorConstraint ( EvaluatorConstraint< EvaluatorType > &&  )
delete
EvaluatorConstraint ( const std::shared_ptr< EvaluatorType > &  evaluator,
Args &&...  args 
)
inline

Constructs an evaluator constraint, given the EvaluatorType instance (which will specify the number of constraints and variables), and will forward the remaining arguments to the Constraint constructor.

Parameters
evaluatorEvaluatorType instance.
argsArguments to be forwarded to the constraint constructor.

Member Function Documentation

const EvaluatorType& evaluator ( ) const
inlineprotected

Reference to the nested evaluator.

EvaluatorConstraint& operator= ( const EvaluatorConstraint< EvaluatorType > &  )
delete
EvaluatorConstraint& operator= ( EvaluatorConstraint< EvaluatorType > &&  )
delete

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