EvaluatorCost< EvaluatorType > Class Template Reference

Detailed Description

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

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

Template Parameters

EvaluatorType

The nested evaluator.

#include <drake/solvers/cost.h>

Public Member Functions
	EvaluatorCost (const std::shared_ptr< EvaluatorType > &evaluator)
	EvaluatorCost (const std::shared_ptr< EvaluatorType > &evaluator, const Eigen::Ref< const Eigen::VectorXd > &a, double b=0)
	This cost computes a.dot(evaluator(x)) + b. More...
Does not allow copy, move, or assignment
	EvaluatorCost (const EvaluatorCost &)=delete
EvaluatorCost &	operator= (const EvaluatorCost &)=delete
	EvaluatorCost (EvaluatorCost &&)=delete
EvaluatorCost &	operator= (EvaluatorCost &&)=delete
Public Member Functions inherited from Cost
	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
const EvaluatorType &	evaluator () const
void	DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const override
	Implements expression evaluation for scalar type double. More...
void	DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const override
	Implements expression evaluation for scalar type AutoDiffXd. More...
void	DoEval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const override
	Implements expression evaluation for scalar type symbolic::Expression. More...
Protected Member Functions inherited from Cost
	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 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

EvaluatorCost() [1/4]

EvaluatorCost ( const EvaluatorCost< EvaluatorType > &  )

delete

EvaluatorCost() [2/4]

EvaluatorCost ( EvaluatorCost< EvaluatorType > &&  )

delete

EvaluatorCost() [3/4]

EvaluatorCost ( const std::shared_ptr< EvaluatorType > &  evaluator )

explicit

EvaluatorCost() [4/4]

EvaluatorCost	(	const std::shared_ptr< EvaluatorType > &	evaluator,
		const Eigen::Ref< const Eigen::VectorXd > &	a,
		double	b = 0
	)

This cost computes a.dot(evaluator(x)) + b.

Precondition

a.rows() == evaluator->num_outputs()

Member Function Documentation

DoEval() [1/3]

void DoEval ( const Eigen::Ref< const Eigen::VectorXd > &  x, Eigen::VectorXd *  y  ) const

overrideprotectedvirtual

Implements expression evaluation for scalar type double.

Parameters

x	Input vector.
y	Output vector.

Precondition

x must be of size num_vars x 1.

Postcondition

y will be of size num_outputs x 1.

Implements EvaluatorBase.

DoEval() [2/3]

void DoEval ( const Eigen::Ref< const AutoDiffVecXd > &  x, AutoDiffVecXd *  y  ) const

overrideprotectedvirtual

Implements expression evaluation for scalar type AutoDiffXd.

Parameters

x	Input vector.
y	Output vector.

Precondition

x must be of size num_vars x 1.

Postcondition

y will be of size num_outputs x 1.

Implements EvaluatorBase.

DoEval() [3/3]

void DoEval ( const Eigen::Ref< const VectorX< symbolic::Variable >> &  x, VectorX< symbolic::Expression > *  y  ) const

overrideprotectedvirtual

Implements expression evaluation for scalar type symbolic::Expression.

Parameters

[in]	x	Input vector.
[out]	y	Output vector.

Precondition

x must be of size num_vars x 1.

Postcondition

y will be of size num_outputs x 1.

Implements EvaluatorBase.

evaluator()

const EvaluatorType& evaluator ( ) const

protected

operator=() [1/2]

EvaluatorCost& operator= ( const EvaluatorCost< EvaluatorType > &  )

delete

operator=() [2/2]

EvaluatorCost& operator= ( EvaluatorCost< EvaluatorType > &&  )

delete

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

• drake/solvers/cost.h