Drake
Drake C++ Documentation

Detailed Description

Implements a constraint of the form \( lb <= x <= ub \).

Note: the base Constraint class (as implemented at the moment) could play this role. But this class enforces that it is ONLY a bounding box constraint, and not something more general. Some solvers use this information to handle bounding box constraints differently than general constraints, so use of this form is encouraged.

#include <drake/solvers/constraint.h>

Public Member Functions

 BoundingBoxConstraint (const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
 
 ~BoundingBoxConstraint () override
 
Does not allow copy, move, or assignment
 BoundingBoxConstraint (const BoundingBoxConstraint &)=delete
 
BoundingBoxConstraintoperator= (const BoundingBoxConstraint &)=delete
 
 BoundingBoxConstraint (BoundingBoxConstraint &&)=delete
 
BoundingBoxConstraintoperator= (BoundingBoxConstraint &&)=delete
 
- Public Member Functions inherited from LinearConstraint
 LinearConstraint (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
 Construct the linear constraint lb <= A*x <= ub. More...
 
 LinearConstraint (const Eigen::SparseMatrix< double > &A, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
 Overloads constructor with a sparse A matrix. More...
 
 ~LinearConstraint () override
 
const Eigen::SparseMatrix< double > & get_sparse_A () const
 
const Eigen::MatrixXd & GetDenseA () const
 Get the matrix A as a dense matrix. More...
 
void UpdateCoefficients (const Eigen::Ref< const Eigen::MatrixXd > &new_A, const Eigen::Ref< const Eigen::VectorXd > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
 Updates the linear term, upper and lower bounds in the linear constraint. More...
 
void UpdateCoefficients (const Eigen::SparseMatrix< double > &new_A, const Eigen::Ref< const Eigen::VectorXd > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
 Overloads UpdateCoefficients but with a sparse A matrix. More...
 
void RemoveTinyCoefficient (double tol)
 Sets A(i, j) to zero if abs(A(i, j)) <= tol. More...
 
bool is_dense_A_constructed () const
 Returns true iff this constraint already has a dense representation, i.e, if GetDenseA() will be cheap. 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...
 
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...
 
 LinearConstraint (const LinearConstraint &)=delete
 
LinearConstraintoperator= (const LinearConstraint &)=delete
 
 LinearConstraint (LinearConstraint &&)=delete
 
LinearConstraintoperator= (LinearConstraint &&)=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
 
Constraintoperator= (const Constraint &)=delete
 
 Constraint (Constraint &&)=delete
 
Constraintoperator= (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
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (EvaluatorBase &&)=delete
 

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...
 
void set_num_outputs (int num_outputs)
 
void set_is_thread_safe (bool is_thread_safe)
 
- Protected Attributes inherited from LinearConstraint
internal::SparseAndDenseMatrix A_
 

Constructor & Destructor Documentation

◆ BoundingBoxConstraint() [1/3]

◆ BoundingBoxConstraint() [2/3]

◆ BoundingBoxConstraint() [3/3]

BoundingBoxConstraint ( const Eigen::Ref< const Eigen::VectorXd > &  lb,
const Eigen::Ref< const Eigen::VectorXd > &  ub 
)

◆ ~BoundingBoxConstraint()

~BoundingBoxConstraint ( )
override

Member Function Documentation

◆ operator=() [1/2]

BoundingBoxConstraint& operator= ( const BoundingBoxConstraint )
delete

◆ operator=() [2/2]

BoundingBoxConstraint& operator= ( BoundingBoxConstraint &&  )
delete

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