Drake
BoundingBoxConstraint Class Reference

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

#include <drake/solvers/constraint.h>

Public Member Functions

template<typename DerivedLB , typename DerivedUB >
 BoundingBoxConstraint (const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &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
template<typename DerivedA , typename DerivedLB , typename DerivedUB >
 LinearConstraint (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub)
 
 ~LinearConstraint () override
 
virtual Eigen::SparseMatrix< doubleGetSparseMatrix () const
 
virtual const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > & A () const
 
template<typename DerivedA , typename DerivedL , typename DerivedU >
void UpdateCoefficients (const Eigen::MatrixBase< DerivedA > &new_A, const Eigen::MatrixBase< DerivedL > &new_lb, const Eigen::MatrixBase< DerivedU > &new_ub)
 Updates the linear term, upper and lower bounds in the linear constraint. 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 with a scalar type of double. More...
 
void Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
 Evaluates the expression with a scalar type of AutoDiffXd. More...
 
void Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const
 Evaluates the expression with a scalar type of symbolic::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...
 
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...
 
 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 > &lower_bound, const Eigen::Ref< const Eigen::VectorXd > &upper_bound)
 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)
 
- Protected Attributes inherited from LinearConstraint
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > A_
 

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.

Constructor & Destructor Documentation

◆ BoundingBoxConstraint() [1/3]

◆ BoundingBoxConstraint() [2/3]

◆ BoundingBoxConstraint() [3/3]

BoundingBoxConstraint ( const Eigen::MatrixBase< DerivedLB > &  lb,
const Eigen::MatrixBase< DerivedUB > &  ub 
)
inline

◆ ~BoundingBoxConstraint()

~BoundingBoxConstraint ( )
inlineoverride

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 files: