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Drake
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Drake
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Provides an abstract base for all costs.
#include <drake/solvers/cost.h>
Public Member Functions | |
Does not allow copy, move, or assignment | |
| Cost (const Cost &)=delete | |
| Cost & | operator= (const Cost &)=delete |
| Cost (Cost &&)=delete | |
| Cost & | operator= (Cost &&)=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 |
Protected Member Functions | |
| Cost (int num_vars, const std::string &description="") | |
| Constructs a cost evaluator. More... | |
| Protected Member Functions inherited from EvaluatorBase | |
| EvaluatorBase (int num_outputs, int num_vars, const std::string &description="") | |
| Constructs a evaluator. More... | |
| virtual void | DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const =0 |
| Implements expression evaluation for scalar type double. More... | |
| virtual void | DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const =0 |
| Implements expression evaluation for scalar type AutoDiffXd. More... | |
| virtual void | DoEval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const =0 |
| Implements expression evaluation for scalar type symbolic::Expression. 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) |
Constructs a cost evaluator.
| num_vars | Number of input variables. |
| description | Human-friendly description. |