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

EvaluatorType

The 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 > &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...
Does not allow copy, move, or assignment
	EvaluatorConstraint (const EvaluatorConstraint &)=delete
EvaluatorConstraint &	operator= (const EvaluatorConstraint &)=delete
	EvaluatorConstraint (EvaluatorConstraint &&)=delete
EvaluatorConstraint &	operator= (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
Constraint &	operator= (const Constraint &)=delete
	Constraint (Constraint &&)=delete
Constraint &	operator= (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
EvaluatorBase &	operator= (const EvaluatorBase &)=delete
	EvaluatorBase (EvaluatorBase &&)=delete
EvaluatorBase &	operator= (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 > &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...
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)

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

evaluator	EvaluatorType instance.
args	Arguments 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

new_lb	. A num_constraints x 1 vector.
new_ub.	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.

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

• drake/solvers/constraint.h