Cost Class Reference

Detailed Description

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.
void	Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
	Evaluates the expression.
void	Eval (const Eigen::Ref< const VectorX< symbolic::Variable > > &x, VectorX< symbolic::Expression > *y) const
	Evaluates the expression.
void	set_description (const std::string &description)
	Set a human-friendly description for the evaluator.
const std::string &	get_description () const
	Getter for a human-friendly description for the evaluator.
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.
std::ostream &	Display (std::ostream &os) const
	Formats this evaluator into the given stream, without displaying the decision variables it is bound to.
std::string	ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
	Returns a LaTeX string describing this evaluator.
int	num_vars () const
	Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y).
int	num_outputs () const
	Getter for the number of outputs, namely the number of rows in y, as used in Eval(x, y).
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) .
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.
bool	is_thread_safe () const
	Returns whether it is safe to call Eval in parallel.
	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.
Protected Member Functions inherited from EvaluatorBase
	EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
	Constructs a evaluator.
virtual void	DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const =0
	Implements expression evaluation for scalar type double.
virtual void	DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const =0
	Implements expression evaluation for scalar type AutoDiffXd.
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.
virtual std::ostream &	DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	NVI implementation of Display.
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

Cost() [1/3]

Cost ( const Cost & )

delete

Cost() [2/3]

Cost ( Cost && )

delete

Cost() [3/3]

Cost ( int num_vars, const std::string & description = "" )

explicitprotected

Constructs a cost evaluator.

Parameters

num_vars	Number of input variables.
description	Human-friendly description.

Member Function Documentation

operator=() [1/2]

Cost & operator= ( const Cost & )

delete

operator=() [2/2]

Cost & operator= ( Cost && )

delete

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

• drake/solvers/cost.h