Drake
EvaluatorConstraint< EvaluatorType > Class Template Reference

Detailed Description

template<typename EvaluatorType = EvaluatorBase>
class drake::solvers::EvaluatorConstraint< EvaluatorType >

A constraint that may be specified using another (potentially nonlinear) evaluator.

Template Parameters
EvaluatorTypeThe nested evaluator.

#include <drake/solvers/constraint.h>

Public Member Functions

template<typename... Args>
 EvaluatorConstraint (const std::shared_ptr< EvaluatorType > &evaluator, Args &&... args)
 Constructs an evaluator constraint, given the EvaluatorType instance (which will specify the number of constraints and variables), and will forward the remaining arguments to the Constraint constructor. 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...
 
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...
 
Does not allow copy, move, or assignment
 EvaluatorConstraint (const EvaluatorConstraint &)=delete
 
EvaluatorConstraintoperator= (const EvaluatorConstraint &)=delete
 
 EvaluatorConstraint (EvaluatorConstraint &&)=delete
 
EvaluatorConstraintoperator= (EvaluatorConstraint &&)=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...
 
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...
 
 EvaluatorBase (const EvaluatorBase &)=delete
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (EvaluatorBase &&)=delete
 

Protected Member Functions

const EvaluatorType & evaluator () const
 Reference to the nested evaluator. More...
 
- 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...
 
virtual std::ostream & DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
 NVI implementation of Display. More...
 
void set_num_outputs (int num_outputs)
 

Constructor & Destructor Documentation

◆ EvaluatorConstraint() [1/3]

EvaluatorConstraint ( const EvaluatorConstraint< EvaluatorType > &  )
delete

◆ EvaluatorConstraint() [2/3]

EvaluatorConstraint ( EvaluatorConstraint< EvaluatorType > &&  )
delete

◆ EvaluatorConstraint() [3/3]

EvaluatorConstraint ( const std::shared_ptr< EvaluatorType > &  evaluator,
Args &&...  args 
)

Constructs an evaluator constraint, given the EvaluatorType instance (which will specify the number of constraints and variables), and will forward the remaining arguments to the Constraint constructor.

Parameters
evaluatorEvaluatorType instance.
argsArguments to be forwarded to the constraint constructor.

Member Function Documentation

◆ evaluator()

const EvaluatorType& evaluator ( ) const
protected

Reference to the nested evaluator.

◆ operator=() [1/2]

EvaluatorConstraint& operator= ( EvaluatorConstraint< EvaluatorType > &&  )
delete

◆ operator=() [2/2]

EvaluatorConstraint& operator= ( const EvaluatorConstraint< EvaluatorType > &  )
delete

◆ set_bounds()

void set_bounds

Set the upper and lower bounds of the constraint.

Parameters
lower_bound.A num_constraints x 1 vector.
upper_bound.A num_constraints x 1 vector.
Note
If the users want to expose this method in a sub-class, do using Constraint::set_bounds, as in LinearConstraint.

◆ UpdateLowerBound()

void UpdateLowerBound

Updates the lower bound.

Note
if the users want to expose this method in a sub-class, do using Constraint::UpdateLowerBound, as in LinearConstraint.

◆ UpdateUpperBound()

void UpdateUpperBound

Updates the upper bound.

Note
if the users want to expose this method in a sub-class, do using Constraint::UpdateUpperBound, as in LinearConstraint.

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