Drake
LinearComplementarityConstraint Class Reference

Implements a constraint of the form: More...

#include <drake/solvers/constraint.h>

Inheritance diagram for LinearComplementarityConstraint:
[legend]
Collaboration diagram for LinearComplementarityConstraint:
[legend]

Public Member Functions

template<typename DerivedM , typename Derivedq >
 LinearComplementarityConstraint (const Eigen::MatrixBase< DerivedM > &M, const Eigen::MatrixBase< Derivedq > &q)
 
 ~LinearComplementarityConstraint () override
 
const Eigen::MatrixXd & M () const
 
const Eigen::VectorXd & q () const
 
Does not allow copy, move, or assignment
 LinearComplementarityConstraint (const LinearComplementarityConstraint &)=delete
 
LinearComplementarityConstraintoperator= (const LinearComplementarityConstraint &)=delete
 
 LinearComplementarityConstraint (LinearComplementarityConstraint &&)=delete
 
LinearComplementarityConstraintoperator= (LinearComplementarityConstraint &&)=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

void DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd &y) const override
 Return Mx + q (the value of the slack variable). More...
 
void DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd &y) const override
 Implements expression evaluation for scalar type AutoDiffXd. More...
 
bool DoCheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, const double tol) const override
 
bool DoCheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, const double tol) const override
 
- Protected Member Functions inherited from EvaluatorBase
 EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
 Constructs a evaluator. More...
 

Detailed Description

Implements a constraint of the form:

  Mx + q >= 0
  x >= 0
  x'(Mx + q) == 0

An implied slack variable complements any 0 component of x. To get the slack values at a given solution x, use Eval(x).

Constructor & Destructor Documentation

LinearComplementarityConstraint ( const Eigen::MatrixBase< DerivedM > &  M,
const Eigen::MatrixBase< Derivedq > &  q 
)
inline
~LinearComplementarityConstraint ( )
inlineoverride

Member Function Documentation

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

Reimplemented from Constraint.

Here is the call graph for this function:

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

Reimplemented from Constraint.

Here is the call graph for this function:

void DoEval ( const Eigen::Ref< const Eigen::VectorXd > &  x,
Eigen::VectorXd &  y 
) const
overrideprotectedvirtual

Return Mx + q (the value of the slack variable).

Implements EvaluatorBase.

Here is the call graph for this function:

void DoEval ( const Eigen::Ref< const AutoDiffVecXd > &  x,
AutoDiffVecXd y 
) const
overrideprotectedvirtual

Implements expression evaluation for scalar type AutoDiffXd.

Parameters
xInput vector.
yOutput vector.
Precondition
x must be of size num_vars x 1.
Postcondition
y will be of size num_outputs x 1.

Implements EvaluatorBase.

Here is the call graph for this function:

const Eigen::MatrixXd& M ( ) const
inline
const Eigen::VectorXd& q ( ) const
inline

Here is the call graph for this function:


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