Drake
LinearEqualityConstraint Class Reference

Implements a constraint of the form Ax = b . More...

#include <drake/solvers/constraint.h>

Inheritance diagram for LinearEqualityConstraint:
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Public Member Functions

template<typename DerivedA , typename DerivedB >
 LinearEqualityConstraint (const Eigen::MatrixBase< DerivedA > &Aeq, const Eigen::MatrixBase< DerivedB > &beq)
 
 LinearEqualityConstraint (const Eigen::Ref< const Eigen::RowVectorXd > &a, double beq)
 
 ~LinearEqualityConstraint () override
 
template<typename DerivedA , typename DerivedB >
void UpdateCoefficients (const Eigen::MatrixBase< DerivedA > &Aeq, const Eigen::MatrixBase< DerivedB > &beq)
 
Does not allow copy, move, or assignment
 LinearEqualityConstraint (const LinearEqualityConstraint &)=delete
 
LinearEqualityConstraintoperator= (const LinearEqualityConstraint &)=delete
 
 LinearEqualityConstraint (LinearEqualityConstraint &&)=delete
 
LinearEqualityConstraintoperator= (LinearEqualityConstraint &&)=delete
 
- Public Member Functions inherited from LinearConstraint
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...
 
 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
 

Additional Inherited Members

- Protected Member Functions inherited from LinearConstraint
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 inherited from LinearConstraint
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > A_
 

Detailed Description

Implements a constraint of the form Ax = b .

Constructor & Destructor Documentation

LinearEqualityConstraint ( const Eigen::MatrixBase< DerivedA > &  Aeq,
const Eigen::MatrixBase< DerivedB > &  beq 
)
inline
LinearEqualityConstraint ( const Eigen::Ref< const Eigen::RowVectorXd > &  a,
double  beq 
)
inline
~LinearEqualityConstraint ( )
inlineoverride

Member Function Documentation

LinearEqualityConstraint& operator= ( const LinearEqualityConstraint )
delete
void UpdateCoefficients ( const Eigen::MatrixBase< DerivedA > &  Aeq,
const Eigen::MatrixBase< DerivedB > &  beq 
)
inline

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