Drake
LinearConstraint Class Reference

Implements a constraint of the form lb <= Ax <= ub . More...

#include <drake/solvers/constraint.h>

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

Public Member Functions

template<typename DerivedA , typename DerivedLB , typename DerivedUB >
 LinearConstraint (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub)
 
 ~LinearConstraint () override
 
virtual Eigen::SparseMatrix< doubleGetSparseMatrix () const
 
virtual const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > & A () const
 
template<typename DerivedA , typename DerivedL , typename DerivedU >
void UpdateCoefficients (const Eigen::MatrixBase< DerivedA > &new_A, const Eigen::MatrixBase< DerivedL > &new_lb, const Eigen::MatrixBase< DerivedU > &new_ub)
 Updates the linear term, upper and lower bounds in the linear constraint. More...
 
Does not allow copy, move, or assignment
 LinearConstraint (const LinearConstraint &)=delete
 
LinearConstraintoperator= (const LinearConstraint &)=delete
 
 LinearConstraint (LinearConstraint &&)=delete
 
LinearConstraintoperator= (LinearConstraint &&)=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
 Implements expression evaluation for scalar type double. More...
 
void DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd &y) const override
 Implements expression evaluation for scalar type AutoDiffXd. 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...
 

Protected Attributes

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > A_
 

Detailed Description

Implements a constraint of the form lb <= Ax <= ub .

Constructor & Destructor Documentation

LinearConstraint ( const LinearConstraint )
delete
LinearConstraint ( const Eigen::MatrixBase< DerivedA > &  a,
const Eigen::MatrixBase< DerivedLB > &  lb,
const Eigen::MatrixBase< DerivedUB > &  ub 
)
inline
~LinearConstraint ( )
inlineoverride

Member Function Documentation

virtual const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>& A ( ) const
inlinevirtual
void DoEval ( const Eigen::Ref< const Eigen::VectorXd > &  x,
Eigen::VectorXd &  y 
) const
overrideprotectedvirtual

Implements expression evaluation for scalar type double.

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.

Reimplemented in BoundingBoxConstraint.

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.

Reimplemented in BoundingBoxConstraint.

Here is the call graph for this function:

virtual Eigen::SparseMatrix<double> GetSparseMatrix ( ) const
inlinevirtual
LinearConstraint& operator= ( LinearConstraint &&  )
delete
LinearConstraint& operator= ( const LinearConstraint )
delete
void UpdateCoefficients ( const Eigen::MatrixBase< DerivedA > &  new_A,
const Eigen::MatrixBase< DerivedL > &  new_lb,
const Eigen::MatrixBase< DerivedU > &  new_ub 
)
inline

Updates the linear term, upper and lower bounds in the linear constraint.

The updated constraint is: new_lb <= new_A * x <= new_ub Note that the size of constraints (number of rows) can change, but the number of variables (number of cols) cannot.

Parameters
new_Anew linear term
new_lbnew lower bound
new_upnew upper bound

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> A_
protected

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