Binding< C > Class Template Reference

Detailed Description

template<typename C>
class drake::multibody::Binding< C >

A binding on constraint type C is a mapping of the decision variables onto the inputs of C.

This allows the constraint to operate on a vector made up of different elements of the decision variables.

#include <drake/solvers/binding.h>

Public Member Functions
	Binding (const std::shared_ptr< C > &c, const Eigen::Ref< const VectorXDecisionVariable > &v)
	Binding (const std::shared_ptr< C > &c, const VariableRefList &v)
	Concatenates each VectorDecisionVariable object in v into a single column vector, binds this column vector of decision variables with the constraint c.
template<typename U>
	Binding (const Binding< U > &b, typename std::enable_if_t< std::is_convertible_v< std::shared_ptr< U >, std::shared_ptr< C > > > *=nullptr)
const std::shared_ptr< C > &	evaluator () const
const VectorXDecisionVariable &	variables () const
bool	ContainsVariable (const symbolic::Variable &var) const
	Returns true iff the given var is included in this Binding.
size_t	GetNumElements () const
	Returns the number of variables associated with this evaluator.
std::string	to_string () const
	Returns string representation of Binding.
std::string	ToLatex (int precision=3) const
	Returns a LaTeX description of this Binding.
bool	operator== (const Binding< C > &other) const
	Compare two bindings based on their evaluator pointers and the bound variables.
bool	operator!= (const Binding< C > &other) const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Binding (const Binding &)=default
	Binding (Binding &&)=default
Binding &	operator= (const Binding &)=default
Binding &	operator= (Binding &&)=default

Friends
template<class HashAlgorithm>
void	hash_append (HashAlgorithm &hasher, const Binding< C > &item) noexcept
	Implements the hash_append generic hashing concept.

Constructor & Destructor Documentation

Binding() [1/5]

template<typename C>

Binding ( const Binding< C > & )

default

Binding() [2/5]

template<typename C>

Binding ( Binding< C > && )

default

Binding() [3/5]

template<typename C>

Binding	(	const std::shared_ptr< C > &	c,
		const Eigen::Ref< const VectorXDecisionVariable > &	v )

Binding() [4/5]

template<typename C>

Binding	(	const std::shared_ptr< C > &	c,
		const VariableRefList &	v )

Concatenates each VectorDecisionVariable object in v into a single column vector, binds this column vector of decision variables with the constraint c.

Binding() [5/5]

template<typename C>

template<typename U>

Binding	(	const Binding< U > &	b,
		typename std::enable_if_t< std::is_convertible_v< std::shared_ptr< U >, std::shared_ptr< C > > > *	= nullptr )

Member Function Documentation

ContainsVariable()

template<typename C>

bool ContainsVariable ( const symbolic::Variable & var ) const

nodiscard

Returns true iff the given var is included in this Binding.

evaluator()

template<typename C>

const std::shared_ptr< C > & evaluator ( ) const

nodiscard

GetNumElements()

template<typename C>

size_t GetNumElements ( ) const

nodiscard

Returns the number of variables associated with this evaluator.

operator!=()

template<typename C>

bool operator!= ( const Binding< C > & other ) const

nodiscard

operator=() [1/2]

template<typename C>

Binding & operator= ( Binding< C > && )

default

operator=() [2/2]

template<typename C>

Binding & operator= ( const Binding< C > & )

default

operator==()

template<typename C>

bool operator== ( const Binding< C > & other ) const

nodiscard

Compare two bindings based on their evaluator pointers and the bound variables.

to_string()

template<typename C>

std::string to_string ( ) const

nodiscard

Returns string representation of Binding.

ToLatex()

template<typename C>

std::string ToLatex

(

int

precision = 3

)

const

Returns a LaTeX description of this Binding.

Does not include any characters to enter/exit math mode; you might want, e.g. "$$" + evaluator.ToLatex() + "$$".

variables()

template<typename C>

const VectorXDecisionVariable & variables ( ) const

nodiscard

Friends And Related Symbol Documentation

hash_append

template<typename C>

template<class HashAlgorithm>

void hash_append ( HashAlgorithm & hasher, const Binding< C > & item )

friend

Implements the hash_append generic hashing concept.

---

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

• drake/solvers/binding.h