aggregate_costs_constraints.h File Reference

#include <optional>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
#include "drake/solvers/binding.h"
#include "drake/solvers/constraint.h"
#include "drake/solvers/cost.h"
#include "drake/solvers/mathematical_program.h"

Include dependency graph for aggregate_costs_constraints.h:

Classes
struct	Bound
	Stores the lower and upper bound of a variable. More...

Namespaces
	drake
	drake::solvers

Functions
void	AggregateLinearCosts (const std::vector< Binding< LinearCost >> &linear_costs, Eigen::SparseVector< double > *linear_coeff, VectorX< symbolic::Variable > *vars, double *constant_cost)
	Given many linear costs, aggregate them into. More...
void	AggregateQuadraticAndLinearCosts (const std::vector< Binding< QuadraticCost >> &quadratic_costs, const std::vector< Binding< LinearCost >> &linear_costs, Eigen::SparseMatrix< double > *Q_lower, VectorX< symbolic::Variable > *quadratic_vars, Eigen::SparseVector< double > *linear_coeff, VectorX< symbolic::Variable > *linear_vars, double *constant_cost)
	Given many linear and quadratic costs, aggregate them into. More...
std::unordered_map< symbolic::Variable, Bound >	AggregateBoundingBoxConstraints (const std::vector< Binding< BoundingBoxConstraint >> &bounding_box_constraints)
	Aggregates many bounding box constraints, returns the intersection (the tightest bounds) of these constraints. More...
void	AggregateBoundingBoxConstraints (const MathematicalProgram &prog, Eigen::VectorXd *lower, Eigen::VectorXd *upper)
	Aggregates all the BoundingBoxConstraints inside prog, returns the intersection of the bounding box constraints as the lower and upper bound for each variable in prog. More...
void	AggregateBoundingBoxConstraints (const MathematicalProgram &prog, std::vector< double > *lower, std::vector< double > *upper)
	Overloads AggregateBoundingBoxConstraints, but the type of lower and upper are std::vector<double>. More...
void	AggregateDuplicateVariables (const Eigen::SparseMatrix< double > &A, const VectorX< symbolic::Variable > &vars, Eigen::SparseMatrix< double > *A_new, VectorX< symbolic::Variable > *vars_new)
	For linear expression A * vars where vars might contain duplicated entries, rewrite this linear expression as A_new * vars_new where vars_new doesn't contain duplicated entries. More...