Detailed Description

Implements a cost of the form ‖Ax + b‖₂.

#include <drake/solvers/cost.h>

Public Member Functions
	L2NormCost (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b)
	Construct a cost of the form ‖Ax + b‖₂. More...

	L2NormCost (const Eigen::SparseMatrix< double > &A, const Eigen::Ref< const Eigen::VectorXd > &b)
	Overloads constructor with a sparse A matrix. More...

	~L2NormCost () override

const Eigen::MatrixXd &	A () const
	(Deprecated.) More...

const Eigen::SparseMatrix< double > &	get_sparse_A () const

const Eigen::MatrixXd &	GetDenseA () const

const Eigen::VectorXd &	b () const

void	UpdateCoefficients (const Eigen::Ref< const Eigen::MatrixXd > &new_A, const Eigen::Ref< const Eigen::VectorXd > &new_b)
	Updates the coefficients of the cost. More...

void	UpdateCoefficients (const Eigen::SparseMatrix< double > &new_A, const Eigen::Ref< const Eigen::VectorXd > &new_b)
	Overloads UpdateCoefficients but with a sparse A matrix. More...

Does not allow copy, move, or assignment
	L2NormCost (const L2NormCost &)=delete

L2NormCost &	operator= (const L2NormCost &)=delete

	L2NormCost (L2NormCost &&)=delete

L2NormCost &	operator= (L2NormCost &&)=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...

	EvaluatorBase (const EvaluatorBase &)=delete

EvaluatorBase &	operator= (const EvaluatorBase &)=delete

	EvaluatorBase (EvaluatorBase &&)=delete

EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Protected Member Functions
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...

std::ostream &	DoDisplay (std::ostream &, const VectorX< symbolic::Variable > &) const override
	NVI implementation of Display. More...

std::string	DoToLatex (const VectorX< symbolic::Variable > &, int) const override

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)

Constructor & Destructor Documentation

◆ L2NormCost() [1/4]

L2NormCost ( const L2NormCost & )

delete

◆ L2NormCost() [2/4]

L2NormCost ( L2NormCost && )

delete

◆ L2NormCost() [3/4]

L2NormCost	(	const Eigen::Ref< const Eigen::MatrixXd > &	A,
		const Eigen::Ref< const Eigen::VectorXd > &	b
	)

Construct a cost of the form ‖Ax + b‖₂.

Parameters

A	Linear term.
b	Constant term.

◆ L2NormCost() [4/4]

L2NormCost	(	const Eigen::SparseMatrix< double > &	A,
		const Eigen::Ref< const Eigen::VectorXd > &	b
	)

Overloads constructor with a sparse A matrix.

◆ ~L2NormCost()

~L2NormCost ( )

override

Member Function Documentation

◆ A()

const Eigen::MatrixXd& A ( ) const

(Deprecated.)

Deprecated:: Use A_dense function instead.
This will be removed from Drake on or after 2024-08-01.

◆ b()

const Eigen::VectorXd& b ( ) const

◆ DoDisplay()

std::ostream& DoDisplay	(	std::ostream &	os,
		const VectorX< symbolic::Variable > &	vars
	)		const

overrideprotectedvirtual

NVI implementation of Display.

The default implementation will report the NiceTypeName, get_description, and list the bound variables. Subclasses may override to customize the message.

Precondition: vars size is consistent with num_vars".

Reimplemented from EvaluatorBase.

◆ 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.

◆ DoToLatex()

std::string DoToLatex	(	const VectorX< symbolic::Variable > &	,
		int
	)		const

overrideprotectedvirtual

Reimplemented from EvaluatorBase.

◆ get_sparse_A()

const Eigen::SparseMatrix<double>& get_sparse_A ( ) const

◆ GetDenseA()

const Eigen::MatrixXd& GetDenseA ( ) const

◆ operator=() [1/2]

L2NormCost& operator= ( L2NormCost && )

delete

◆ operator=() [2/2]

L2NormCost& operator= ( const L2NormCost & )

delete

◆ UpdateCoefficients() [1/2]

void UpdateCoefficients	(	const Eigen::Ref< const Eigen::MatrixXd > &	new_A,
		const Eigen::Ref< const Eigen::VectorXd > &	new_b
	)

Updates the coefficients of the cost.

Note that the number of variables (columns of A) cannot change.

Parameters

new_A	New linear term.
new_b	New constant term.

◆ UpdateCoefficients() [2/2]

void UpdateCoefficients	(	const Eigen::SparseMatrix< double > &	new_A,
		const Eigen::Ref< const Eigen::VectorXd > &	new_b
	)

Overloads UpdateCoefficients but with a sparse A matrix.

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

drake/solvers/cost.h

Detailed Description

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ L2NormCost() [1/4]

◆ L2NormCost() [2/4]

◆ L2NormCost() [3/4]

◆ L2NormCost() [4/4]

◆ ~L2NormCost()

Member Function Documentation

◆ A()

◆ b()

◆ DoDisplay()

◆ DoEval() [1/3]

◆ DoEval() [2/3]

◆ DoEval() [3/3]

◆ DoToLatex()

◆ get_sparse_A()

◆ GetDenseA()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ UpdateCoefficients() [1/2]

◆ UpdateCoefficients() [2/2]