FunctionEvaluator< F > Class Template Reference

Detailed Description

template<typename F>
class drake::solvers::FunctionEvaluator< F >

An evaluator that may be specified using a callable object.

Consider constructing these instances using MakeFunctionEvaluator(...).

Template Parameters

F	The function / functor's type.

#include <drake/solvers/evaluator_base.h>

Public Member Functions
template<typename FF , typename... Args>
	FunctionEvaluator (FF &&f, Args &&... args)
	Constructs an instance by copying from an lvalue or rvalue of F. More...
Does not allow copy, move, or assignment
	FunctionEvaluator (const FunctionEvaluator &)=delete
FunctionEvaluator &	operator= (const FunctionEvaluator &)=delete
	FunctionEvaluator (FunctionEvaluator &&)=delete
FunctionEvaluator &	operator= (FunctionEvaluator &&)=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
EvaluatorBase &	operator= (const EvaluatorBase &)=delete
	EvaluatorBase (EvaluatorBase &&)=delete
EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Related Functions
(Note that these are not member functions.)
template<typename FF >
std::shared_ptr< EvaluatorBase >	MakeFunctionEvaluator (FF &&f)
	Creates a FunctionEvaluator instance bound to a given callable object. More...

Additional Inherited Members
Protected Member Functions inherited from EvaluatorBase
	EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
	Constructs a evaluator. 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

FunctionEvaluator() [1/3]

FunctionEvaluator ( const FunctionEvaluator< F > &  )

delete

FunctionEvaluator() [2/3]

FunctionEvaluator ( FunctionEvaluator< F > &&  )

delete

FunctionEvaluator() [3/3]

FunctionEvaluator	(	FF &&	f,
		Args &&...	args
	)

Constructs an instance by copying from an lvalue or rvalue of F.

Template Parameters

FF	Perfect-forwarding type of F (e.g., const F&, F&&).

Parameters

f	The callable object. If rvalue, this value will be std::move'd. Otherwise, it will be copied.
args	Arguments to be forwarded to EvaluatorBase constructor.

Member Function Documentation

operator=() [1/2]

FunctionEvaluator& operator= ( const FunctionEvaluator< F > &  )

delete

operator=() [2/2]

FunctionEvaluator& operator= ( FunctionEvaluator< F > &&  )

delete

Friends And Related Function Documentation

MakeFunctionEvaluator()

std::shared_ptr< EvaluatorBase > MakeFunctionEvaluator ( FF &&  f )

related

Creates a FunctionEvaluator instance bound to a given callable object.

Template Parameters

FF	Perfect-forwarding type of F (e.g., const F&, F&&).

Parameters

f	Callable function object.

Returns

An implementation of EvaluatorBase using the callable object.

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

• drake/solvers/evaluator_base.h