Detailed Description

Implements a constraint of the form:

  Mx + q ≥ 0
  x ≥ 0
  x'(Mx + q) == 0

Often this is summarized with the short-hand:

  0 ≤ z ⊥ Mz+q ≥ 0

An implied slack variable complements any 0 component of x. To get the slack values at a given solution x, use Eval(x).

#include <drake/solvers/constraint.h>

Public Member Functions
template<typename DerivedM , typename Derivedq >
	LinearComplementarityConstraint (const Eigen::MatrixBase< DerivedM > &M, const Eigen::MatrixBase< Derivedq > &q)

	~LinearComplementarityConstraint () override

const Eigen::MatrixXd &	M () const

const Eigen::VectorXd &	q () const

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

LinearComplementarityConstraint &	operator= (const LinearComplementarityConstraint &)=delete

	LinearComplementarityConstraint (LinearComplementarityConstraint &&)=delete

LinearComplementarityConstraint &	operator= (LinearComplementarityConstraint &&)=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
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...

bool	DoCheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, const double tol) const override

bool	DoCheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, const double tol) const override

symbolic::Formula	DoCheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable >> &x) const override

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

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...

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...

void	set_num_outputs (int num_outputs)

void	set_is_thread_safe (bool is_thread_safe)

Constructor & Destructor Documentation

◆ LinearComplementarityConstraint() [1/3]

LinearComplementarityConstraint ( const LinearComplementarityConstraint & )

delete

◆ LinearComplementarityConstraint() [2/3]

LinearComplementarityConstraint ( LinearComplementarityConstraint && )

delete

◆ LinearComplementarityConstraint() [3/3]

LinearComplementarityConstraint	(	const Eigen::MatrixBase< DerivedM > &	M,
		const Eigen::MatrixBase< Derivedq > &	q
	)

◆ ~LinearComplementarityConstraint()

~LinearComplementarityConstraint ( )

override

Member Function Documentation

◆ DoCheckSatisfied() [1/3]

bool DoCheckSatisfied	(	const Eigen::Ref< const Eigen::VectorXd > &	x,
		const double	tol
	)		const

overrideprotectedvirtual

Reimplemented from Constraint.

◆ DoCheckSatisfied() [2/3]

bool DoCheckSatisfied	(	const Eigen::Ref< const AutoDiffVecXd > &	x,
		const double	tol
	)		const

overrideprotectedvirtual

Reimplemented from Constraint.

◆ DoCheckSatisfied() [3/3]

symbolic::Formula DoCheckSatisfied ( const Eigen::Ref< const VectorX< symbolic::Variable >> & x ) const

overrideprotectedvirtual

Reimplemented from Constraint.

◆ 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.

◆ M()

const Eigen::MatrixXd& M ( ) const

◆ operator=() [1/2]

LinearComplementarityConstraint& operator= ( LinearComplementarityConstraint && )

delete

◆ operator=() [2/2]

LinearComplementarityConstraint& operator= ( const LinearComplementarityConstraint & )

delete

◆ q()

const Eigen::VectorXd& q ( ) const

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

drake/solvers/constraint.h

Detailed Description

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ LinearComplementarityConstraint() [1/3]

◆ LinearComplementarityConstraint() [2/3]

◆ LinearComplementarityConstraint() [3/3]

◆ ~LinearComplementarityConstraint()

Member Function Documentation

◆ DoCheckSatisfied() [1/3]

◆ DoCheckSatisfied() [2/3]

◆ DoCheckSatisfied() [3/3]

◆ DoEval() [1/3]

◆ DoEval() [2/3]

◆ DoEval() [3/3]

◆ DoToLatex()

◆ M()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ q()