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::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... | |
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 | |
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) |
void | set_is_thread_safe (bool is_thread_safe) |
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delete |
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delete |
L2NormCost | ( | const Eigen::Ref< const Eigen::MatrixXd > & | A, |
const Eigen::Ref< const Eigen::VectorXd > & | b | ||
) |
Construct a cost of the form ‖Ax + b‖₂.
A | Linear term. |
b | Constant term. |
std::exception | if the size of A and b don't match. |
L2NormCost | ( | const Eigen::SparseMatrix< double > & | A, |
const Eigen::Ref< const Eigen::VectorXd > & | b | ||
) |
Overloads constructor with a sparse A matrix.
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override |
const Eigen::VectorXd& b | ( | ) | const |
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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.
Reimplemented from EvaluatorBase.
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overrideprotectedvirtual |
Implements expression evaluation for scalar type double.
x | Input vector. |
y | Output vector. |
num_vars
x 1. num_outputs
x 1. Implements EvaluatorBase.
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overrideprotectedvirtual |
Implements expression evaluation for scalar type AutoDiffXd.
x | Input vector. |
y | Output vector. |
num_vars
x 1. num_outputs
x 1. Implements EvaluatorBase.
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overrideprotectedvirtual |
Implements expression evaluation for scalar type symbolic::Expression.
[in] | x | Input vector. |
[out] | y | Output vector. |
num_vars
x 1. num_outputs
x 1. Implements EvaluatorBase.
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overrideprotectedvirtual |
Reimplemented from EvaluatorBase.
const Eigen::SparseMatrix<double>& get_sparse_A | ( | ) | const |
const Eigen::MatrixXd& GetDenseA | ( | ) | const |
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delete |
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delete |
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.
new_A | New linear term. |
new_b | New constant term. |
void UpdateCoefficients | ( | const Eigen::SparseMatrix< double > & | new_A, |
const Eigen::Ref< const Eigen::VectorXd > & | new_b | ||
) |
Overloads UpdateCoefficients but with a sparse A matrix.