Drake
EvaluatorCost< EvaluatorType > Class Template Reference

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

#include <drake/solvers/cost.h>

Public Member Functions

 EvaluatorCost (const std::shared_ptr< EvaluatorType > &evaluator)
 
Does not allow copy, move, or assignment
 EvaluatorCost (const EvaluatorCost &)=delete
 
EvaluatorCostoperator= (const EvaluatorCost &)=delete
 
 EvaluatorCost (EvaluatorCost &&)=delete
 
EvaluatorCostoperator= (EvaluatorCost &&)=delete
 
- Public Member Functions inherited from Cost
 Cost (const Cost &)=delete
 
Costoperator= (const Cost &)=delete
 
 Cost (Cost &&)=delete
 
Costoperator= (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 with a scalar type of double. More...
 
void Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
 Evaluates the expression with a scalar type of AutoDiffXd. More...
 
void Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const
 Evaluates the expression with a scalar type of symbolic::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...
 
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...
 
 EvaluatorBase (const EvaluatorBase &)=delete
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (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...
 
void set_num_outputs (int num_outputs)
 

Detailed Description

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

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

Template Parameters
EvaluatorTypeThe nested evaluator.

Constructor & Destructor Documentation

◆ EvaluatorCost() [1/3]

EvaluatorCost ( const EvaluatorCost< EvaluatorType > &  )
delete

◆ EvaluatorCost() [2/3]

EvaluatorCost ( EvaluatorCost< EvaluatorType > &&  )
delete

◆ EvaluatorCost() [3/3]

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

Member Function Documentation

◆ DoEval() [1/3]

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

Implements expression evaluation for scalar type double.

Parameters
xInput vector.
yOutput 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
inlineoverrideprotectedvirtual

Implements expression evaluation for scalar type AutoDiffXd.

Parameters
xInput vector.
yOutput 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
inlineoverrideprotectedvirtual

Implements expression evaluation for scalar type symbolic::Expression.

Parameters
[in]xInput vector.
[out]yOutput 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
inlineprotected

◆ operator=() [1/2]

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

◆ operator=() [2/2]

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

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