Detailed Description

Each vertex in the graph has a corresponding ConvexSet, and a std::string name.

#include <drake/geometry/optimization/graph_of_convex_sets.h>

Public Member Functions
	~Vertex ()

VertexId	id () const
	Returns the unique identifier associated with this Vertex. More...

int	ambient_dimension () const
	Returns the ambient dimension of the ConvexSet. More...

const std::string &	name () const
	Returns the name of the vertex. More...

const VectorX< symbolic::Variable > &	x () const
	Returns a decision variable corresponding to an element of the ConvexSet, which can be used for constructing symbolic::Expression costs and constraints. More...

const ConvexSet &	set () const
	Returns a const reference to the underlying ConvexSet. More...

solvers::Binding< solvers::Cost >	AddCost (const symbolic::Expression &e, const std::unordered_set< Transcription > &use_in_transcription={ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction})
	Adds a cost to this vertex, described by a symbolic::Expression `e` containing only elements of x() as variables. More...

solvers::Binding< solvers::Cost >	AddCost (const solvers::Binding< solvers::Cost > &binding, const std::unordered_set< Transcription > &use_in_transcription={ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction})
	Adds a cost to this vertex. More...

solvers::Binding< solvers::Constraint >	AddConstraint (const symbolic::Formula &f, const std::unordered_set< Transcription > &use_in_transcription={ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction})
	Adds a constraint to this vertex. More...

solvers::Binding< solvers::Constraint >	AddConstraint (const solvers::Binding< solvers::Constraint > &binding, const std::unordered_set< Transcription > &use_in_transcription={ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction})
	Adds a constraint to this vertex. More...

std::vector< solvers::Binding< solvers::Cost > >	GetCosts (const std::unordered_set< Transcription > &used_in_transcription={ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction}) const
	Returns costs on this vertex. More...

std::vector< solvers::Binding< solvers::Constraint > >	GetConstraints (const std::unordered_set< Transcription > &used_in_transcription={ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction}) const
	Returns constraints on this vertex. More...

std::optional< double >	GetSolutionCost (const solvers::MathematicalProgramResult &result) const
	Returns the sum of the costs associated with this vertex in `result`, or std::nullopt if no solution for this vertex is available. More...

std::optional< double >	GetSolutionCost (const solvers::MathematicalProgramResult &result, const solvers::Binding< solvers::Cost > &cost) const
	Returns the cost associated with the `cost` binding on this vertex in `result`, or std::nullopt if no solution for this vertex is available. More...

std::optional< Eigen::VectorXd >	GetSolution (const solvers::MathematicalProgramResult &result) const
	Returns the solution of x() in `result`, or std::nullopt if no solution for this vertex is available. More...

const std::vector< Edge * > &	incoming_edges () const

const std::vector< Edge * > &	outgoing_edges () const

Does not allow copy, move, or assignment
	Vertex (const Vertex &)=delete

Vertex &	operator= (const Vertex &)=delete

	Vertex (Vertex &&)=delete

Vertex &	operator= (Vertex &&)=delete

Friends
class	GraphOfConvexSets

Constructor & Destructor Documentation

◆ Vertex() [1/2]

Vertex ( const Vertex & )

delete

◆ Vertex() [2/2]

Vertex ( Vertex && )

delete

◆ ~Vertex()

~Vertex ( )

Member Function Documentation

◆ AddConstraint() [1/2]

solvers::Binding<solvers::Constraint> AddConstraint	(	const symbolic::Formula &	f,
		const std::unordered_set< Transcription > &	use_in_transcription = `{ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction}`
	)

Adds a constraint to this vertex.

Parameters

f	must contain only elements of x() as variables.
use_in_transcription	specifies the components of the problem to which the constraint should be added.

Exceptions

std::exception	if f.GetFreeVariables() is not a subset of x().
std::exception	if ambient_dimension() == 0.
std::exception	if no transcription is specified.

◆ AddConstraint() [2/2]

solvers::Binding<solvers::Constraint> AddConstraint	(	const solvers::Binding< solvers::Constraint > &	binding,
		const std::unordered_set< Transcription > &	use_in_transcription = `{ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction}`
	)

Adds a constraint to this vertex.

Parameters

bindings	must contain only elements of x() as variables.
use_in_transcription	specifies the components of the problem to which the constraint should be added.

Exceptions

std::exception	if binding.variables() is not a subset of x().
std::exception	if ambient_dimension() == 0.
std::exception	if no transcription is specified.

◆ AddCost() [1/2]

solvers::Binding<solvers::Cost> AddCost	(	const symbolic::Expression &	e,
		const std::unordered_set< Transcription > &	use_in_transcription = `{ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction}`
	)

Adds a cost to this vertex, described by a symbolic::Expression e containing only elements of x() as variables.

For technical reasons relating to being able to "turn-off" the cost on inactive vertices, all costs are eventually implemented with a slack variable and a constraint:

min g(x) ⇒ min ℓ, s.t. ℓ ≥ g(x).

You must use GetSolutionCost() to retrieve the cost of the solution, rather than evaluating the cost directly, in order to get consistent behavior when solving with the different GCS transcriptions.

Parameters

use_in_transcription specifies the components of the problem to which the constraint should be added.

Note: Linear costs lead to negative costs if decision variables are not properly constrained. Users may want to check that the solution does not contain negative costs.

Returns: the added cost, g(x).

Exceptions

std::exception	if e.GetVariables() is not a subset of x().
std::exception	if no transcription is specified.

◆ AddCost() [2/2]

solvers::Binding<solvers::Cost> AddCost	(	const solvers::Binding< solvers::Cost > &	binding,
		const std::unordered_set< Transcription > &	use_in_transcription = `{ Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction}`
	)

Adds a cost to this vertex.

binding must contain only elements of x() as variables. For technical reasons relating to being able to "turn-off" the cost on inactive vertices, all costs are eventually implemented with a slack variable and a constraint:

min g(x) ⇒ min ℓ, s.t. ℓ ≥ g(x).

You must use GetSolutionCost() to retrieve the cost of the solution, rather than evaluating the cost directly, in order to get consistent behavior when solving with the different GCS transcriptions.

Parameters

use_in_transcription specifies the components of the problem to which the constraint should be added.

Note: Linear costs lead to negative costs if decision variables are not properly constrained. Users may want to check that the solution does not contain negative costs.

Returns: the added cost, g(x).

Exceptions

std::exception	if binding.variables() is not a subset of x().
std::exception	if no transcription is specified.

◆ ambient_dimension()

int ambient_dimension ( ) const

Returns the ambient dimension of the ConvexSet.

◆ GetConstraints()

std::vector<solvers::Binding<solvers::Constraint> > GetConstraints ( const std::unordered_set< Transcription > & used_in_transcription = { Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction} ) const

Returns constraints on this vertex.

Parameters

used_in_transcription specifies the components of the problem from which the constraint should be retrieved.

Exceptions

std::exception if no transcription is specified.

◆ GetCosts()

std::vector<solvers::Binding<solvers::Cost> > GetCosts ( const std::unordered_set< Transcription > & used_in_transcription = { Transcription::kMIP, Transcription::kRelaxation, Transcription::kRestriction} ) const

Returns costs on this vertex.

Parameters

used_in_transcription specifies the components of the problem from which the constraint should be retrieved.

Exceptions

std::exception if no transcription is specified.

◆ GetSolution()

std::optional<Eigen::VectorXd> GetSolution ( const solvers::MathematicalProgramResult & result ) const

Returns the solution of x() in result, or std::nullopt if no solution for this vertex is available.

std::nullopt can happen if the vertex is deactivated (e.g. not in the shorest path) in the solution.

◆ GetSolutionCost() [1/2]

std::optional<double> GetSolutionCost ( const solvers::MathematicalProgramResult & result ) const

Returns the sum of the costs associated with this vertex in result, or std::nullopt if no solution for this vertex is available.

◆ GetSolutionCost() [2/2]

std::optional<double> GetSolutionCost	(	const solvers::MathematicalProgramResult &	result,
		const solvers::Binding< solvers::Cost > &	cost
	)		const

Returns the cost associated with the cost binding on this vertex in result, or std::nullopt if no solution for this vertex is available.

Exceptions

std::exception if cost is not associated with this vertex.

◆ id()

VertexId id ( ) const

Returns the unique identifier associated with this Vertex.

◆ incoming_edges()

const std::vector<Edge*>& incoming_edges ( ) const

◆ name()

const std::string& name ( ) const

Returns the name of the vertex.

◆ operator=() [1/2]

Vertex& operator= ( Vertex && )

delete

◆ operator=() [2/2]

Vertex& operator= ( const Vertex & )

delete

◆ outgoing_edges()

const std::vector<Edge*>& outgoing_edges ( ) const

◆ set()

const ConvexSet& set ( ) const

Returns a const reference to the underlying ConvexSet.

◆ x()

const VectorX<symbolic::Variable>& x ( ) const

Returns a decision variable corresponding to an element of the ConvexSet, which can be used for constructing symbolic::Expression costs and constraints.

Friends And Related Function Documentation

◆ GraphOfConvexSets

friend class GraphOfConvexSets

friend

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

drake/geometry/optimization/graph_of_convex_sets.h

Detailed Description

Public Member Functions

Friends

Constructor & Destructor Documentation

◆ Vertex() [1/2]

◆ Vertex() [2/2]

◆ ~Vertex()

Member Function Documentation

◆ AddConstraint() [1/2]

◆ AddConstraint() [2/2]

◆ AddCost() [1/2]

◆ AddCost() [2/2]

◆ ambient_dimension()

◆ GetConstraints()

◆ GetCosts()

◆ GetSolution()

◆ GetSolutionCost() [1/2]

◆ GetSolutionCost() [2/2]

◆ id()

◆ incoming_edges()

◆ name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ outgoing_edges()

◆ set()

◆ x()

Friends And Related Function Documentation

◆ GraphOfConvexSets