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...  
std::pair< symbolic::Variable, solvers::Binding< solvers::Cost > >  AddCost (const symbolic::Expression &e) 
Adds a cost to this vertex, described by a symbolic::Expression e containing only elements of x() as variables. More...  
std::pair< symbolic::Variable, solvers::Binding< solvers::Cost > >  AddCost (const solvers::Binding< solvers::Cost > &binding) 
Adds a cost to this vertex. More...  
solvers::Binding< solvers::Constraint >  AddConstraint (const symbolic::Formula &f) 
Adds a constraint to this vertex, described by a symbolic::Formula f containing only elements of x() as variables. More...  
solvers::Binding< solvers::Constraint >  AddConstraint (const solvers::Binding< solvers::Constraint > &binding) 
Adds a constraint to this vertex. More...  
const std::vector< solvers::Binding< solvers::Cost > > &  GetCosts () const 
Returns all costs on this vertex. More...  
const std::vector< solvers::Binding< solvers::Constraint > > &  GetConstraints () const 
Returns all constraints on this vertex. More...  
double  GetSolutionCost (const solvers::MathematicalProgramResult &result) const 
Returns the sum of the costs associated with this vertex in a solvers::MathematicalProgramResult. More...  
Eigen::VectorXd  GetSolution (const solvers::MathematicalProgramResult &result) const 
Returns the solution of x() in a MathematicalProgramResult. 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 
~Vertex  (  ) 
solvers::Binding<solvers::Constraint> AddConstraint  (  const symbolic::Formula &  f  ) 
Adds a constraint to this vertex, described by a symbolic::Formula f
containing only elements of x() as variables.
std::exception  if f.GetFreeVariables() is not a subset of x(). 
std::exception  if ambient_dimension() == 0. 
solvers::Binding<solvers::Constraint> AddConstraint  (  const solvers::Binding< solvers::Constraint > &  binding  ) 
Adds a constraint to this vertex.
binding
must contain only elements of x() as variables.
std::exception  if binding.variables() is not a subset of x(). 
std::exception  if ambient_dimension() == 0. 
std::pair<symbolic::Variable, solvers::Binding<solvers::Cost> > AddCost  (  const symbolic::Expression &  e  ) 
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 "turnoff" 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)
std::exception  if e.GetVariables() is not a subset of x(). 
std::pair<symbolic::Variable, solvers::Binding<solvers::Cost> > AddCost  (  const solvers::Binding< solvers::Cost > &  binding  ) 
Adds a cost to this vertex.
binding
must contain only elements of x() as variables. For technical reasons relating to being able to "turnoff" 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)
std::exception  if binding.variables() is not a subset of x(). 
const std::vector<solvers::Binding<solvers::Constraint> >& GetConstraints  (  )  const 
Returns all constraints on this vertex.
const std::vector<solvers::Binding<solvers::Cost> >& GetCosts  (  )  const 
Returns all costs on this vertex.
Eigen::VectorXd GetSolution  (  const solvers::MathematicalProgramResult &  result  )  const 
Returns the solution of x() in a MathematicalProgramResult.
This solution is NaN if the vertex is not in the shortest path (or if we are solving the the convex relaxation and the total flow through this vertex at the solution is numerically close to zero). We prefer to return NaN than a value not contained in set().
double GetSolutionCost  (  const solvers::MathematicalProgramResult &  result  )  const 
Returns the sum of the costs associated with this vertex in a solvers::MathematicalProgramResult.
const std::vector<Edge*>& incoming_edges  (  )  const 
const std::string& name  (  )  const 
Returns the name of the vertex.
const std::vector<Edge*>& outgoing_edges  (  )  const 
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.

friend 