Detailed Description

A Constraint to impose the manipulator equation: 0 = (Buₙ₊₁ + ∑ᵢ (Jᵢ_WBᵀ(qₙ₊₁)ᵀ * Fᵢ_AB_W(λᵢ,ₙ₊₁))

tau_g(qₙ₊₁) - C(qₙ₊₁, Vₙ₊₁)) * dt - M(qₙ₊₁) * (Vₙ₊₁ - Vₙ)

#include <drake/multibody/optimization/manipulator_equation_constraint.h>

Public Member Functions
	~ManipulatorEquationConstraint () override

const std::map< SortedPair< geometry::GeometryId >, GeometryPairContactWrenchEvaluatorBinding > &	contact_pair_to_wrench_evaluator () const
	Getter for contact_pair_to_wrench_evaluator, passed in the constructor. More...

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

ManipulatorEquationConstraint &	operator= (const ManipulatorEquationConstraint &)=delete

	ManipulatorEquationConstraint (ManipulatorEquationConstraint &&)=delete

ManipulatorEquationConstraint &	operator= (ManipulatorEquationConstraint &&)=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

symbolic::Formula	CheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable >> &x) const

const Eigen::VectorXd &	lower_bound () const

const Eigen::VectorXd &	upper_bound () const

int	num_constraints () const
	Number of rows in the output constraint. More...

	Constraint (const Constraint &)=delete

Constraint &	operator= (const Constraint &)=delete

	Constraint (Constraint &&)=delete

Constraint &	operator= (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. More...

void	Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
	Evaluates the expression. More...

void	Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const
	Evaluates the expression. 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...

std::ostream &	Display (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	Formats this evaluator into the given stream using `vars` for the bound decision variable names. More...

std::ostream &	Display (std::ostream &os) const
	Formats this evaluator into the given stream, without displaying the decision variables it is bound to. More...

std::string	ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
	Returns a LaTeX string describing this 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...

void	SetGradientSparsityPattern (const std::vector< std::pair< int, int >> &gradient_sparsity_pattern)
	Set the sparsity pattern of the gradient matrix ∂y/∂x (the gradient of y value in Eval, w.r.t x in Eval) . More...

const std::optional< std::vector< std::pair< int, int > > > &	gradient_sparsity_pattern () const
	Returns the vector of (row_index, col_index) that contains all the entries in the gradient of Eval function (∂y/∂x) whose value could be non-zero, namely if ∂yᵢ/∂xⱼ could be non-zero, then the pair (i, j) is in gradient_sparsity_pattern. More...

bool	is_thread_safe () const
	Returns whether it is safe to call Eval in parallel. More...

	EvaluatorBase (const EvaluatorBase &)=delete

EvaluatorBase &	operator= (const EvaluatorBase &)=delete

	EvaluatorBase (EvaluatorBase &&)=delete

EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Static Public Member Functions
static solvers::Binding< ManipulatorEquationConstraint >	MakeBinding (const MultibodyPlant< AutoDiffXd > plant, systems::Context< AutoDiffXd > context, const std::vector< std::pair< std::shared_ptr< ContactWrenchEvaluator >, VectorX< symbolic::Variable >>> &contact_wrench_evaluators_and_lambda, const Eigen::Ref< const VectorX< symbolic::Variable >> &v_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &q_next_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &v_next_vars, const Eigen::Ref< const VectorX< symbolic::Variable >> &u_next_vars, const symbolic::Variable &dt_var)
	This constraint depends on the decision variable vector: {vₙ, qₙ₊₁, vₙ₊₁, uₙ₊₁, λₙ₊₁, dt}. More...

Additional Inherited Members
Protected Member Functions inherited from Constraint
void	UpdateLowerBound (const Eigen::Ref< const Eigen::VectorXd > &new_lb)
	Updates the lower bound. More...

void	UpdateUpperBound (const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Updates the upper bound. More...

void	set_bounds (const Eigen::Ref< const Eigen::VectorXd > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Set the upper and lower bounds of the constraint. More...

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

virtual symbolic::Formula	DoCheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable >> &x) const

Protected Member Functions inherited from EvaluatorBase
	EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
	Constructs a evaluator. More...

virtual std::ostream &	DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	NVI implementation of Display. More...

virtual std::string	DoToLatex (const VectorX< symbolic::Variable > &vars, int precision) const

void	set_num_outputs (int num_outputs)

void	set_is_thread_safe (bool is_thread_safe)

Constructor & Destructor Documentation

◆ ManipulatorEquationConstraint() [1/2]

ManipulatorEquationConstraint ( const ManipulatorEquationConstraint & )

delete

◆ ManipulatorEquationConstraint() [2/2]

ManipulatorEquationConstraint ( ManipulatorEquationConstraint && )

delete

◆ ~ManipulatorEquationConstraint()

~ManipulatorEquationConstraint ( )

override

Member Function Documentation

◆ contact_pair_to_wrench_evaluator()

const std::map<SortedPair<geometry::GeometryId>, GeometryPairContactWrenchEvaluatorBinding>& contact_pair_to_wrench_evaluator ( ) const

Getter for contact_pair_to_wrench_evaluator, passed in the constructor.

◆ MakeBinding()

static solvers::Binding<ManipulatorEquationConstraint> MakeBinding	(	const MultibodyPlant< AutoDiffXd > *	plant,
		systems::Context< AutoDiffXd > *	context,
		const std::vector< std::pair< std::shared_ptr< ContactWrenchEvaluator >, VectorX< symbolic::Variable >>> &	contact_wrench_evaluators_and_lambda,
		const Eigen::Ref< const VectorX< symbolic::Variable >> &	v_vars,
		const Eigen::Ref< const VectorX< symbolic::Variable >> &	q_next_vars,
		const Eigen::Ref< const VectorX< symbolic::Variable >> &	v_next_vars,
		const Eigen::Ref< const VectorX< symbolic::Variable >> &	u_next_vars,
		const symbolic::Variable &	dt_var
	)

static

This constraint depends on the decision variable vector: {vₙ, qₙ₊₁, vₙ₊₁, uₙ₊₁, λₙ₊₁, dt}.

Parameters

plant	The plant on which the constraint is imposed.
context	The context for the subsystem `plant`. This context stores the next state {qₙ₊₁, vₙ₊₁}.
contact_wrench_evaluators_and_lambda	For each contact pair, we need to compute the contact wrench applied at the point of contact, expressed in the world frame, namely Fᵢ_AB_W(λᵢ,ₙ₊₁) at time n+1. `contact_wrench_evaluators_and_lambda.first` is the evaluator for computing this contact wrench from the variables λᵢ[.]. `contact_wrench_evaluators_and_lambda.second` are the decision variable λᵢ[n+1] used in computing the contact wrench at time step n+1. Notice the generalized position `q` is not included in variables contact_wrench_evaluators_and_lambda.second.
v_vars	The decision variables for vₙ.
q_next_vars	The decision variables for qₙ₊₁.
v_next_vars	The decision variables for vₙ₊₁.
u_next_vars	The decision variables for uₙ₊₁.
dt_var	The decision variable for dt.

Returns: binding The binding between the manipulator equation constraint and the variables vₙ, qₙ₊₁, vₙ₊₁, uₙ₊₁, λₙ₊₁, and dt.

Precondition: plant must have been connected to a SceneGraph properly. Refer to AddMultibodyPlantSceneGraph for documentation on connecting a MultibodyPlant to a SceneGraph.

◆ operator=() [1/2]

ManipulatorEquationConstraint& operator= ( const ManipulatorEquationConstraint & )

delete

◆ operator=() [2/2]

ManipulatorEquationConstraint& operator= ( ManipulatorEquationConstraint && )

delete

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

drake/multibody/optimization/manipulator_equation_constraint.h

Detailed Description

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ManipulatorEquationConstraint() [1/2]

◆ ManipulatorEquationConstraint() [2/2]

◆ ~ManipulatorEquationConstraint()

Member Function Documentation

◆ contact_pair_to_wrench_evaluator()

◆ MakeBinding()

◆ operator=() [1/2]

◆ operator=() [2/2]