Detailed Description

Implements a cost of the form

\[ a'x + b \]

.

#include <drake/solvers/cost.h>

Public Member Functions
	LinearCost (const Eigen::Ref< const Eigen::VectorXd > &a, double b=0.)
	Construct a linear cost of the form \[ a'x + b \] . More...

	~LinearCost () override

Eigen::SparseMatrix< double >	GetSparseMatrix () const

const Eigen::VectorXd &	a () const

double	b () const

void	UpdateCoefficients (const Eigen::Ref< const Eigen::VectorXd > &new_a, double new_b=0.)
	Updates the coefficients of the cost. More...

void	update_coefficient_entry (int i, double val)
	Updates one entry in the coefficient of the cost. More...

void	update_constant_term (double new_b)
	Updates the constant term in the cost to `new_b`. More...

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

LinearCost &	operator= (const LinearCost &)=delete

	LinearCost (LinearCost &&)=delete

LinearCost &	operator= (LinearCost &&)=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)

Constructor & Destructor Documentation

◆ LinearCost() [1/3]

LinearCost ( const LinearCost & )

delete

◆ LinearCost() [2/3]

LinearCost ( LinearCost && )

delete

◆ LinearCost() [3/3]

LinearCost	(	const Eigen::Ref< const Eigen::VectorXd > &	a,
		double	b = `0.`
	)

Construct a linear cost of the form

\[ a'x + b \]

.

Parameters

a	Linear term.
b	(optional) Constant term.

◆ ~LinearCost()

~LinearCost ( )

override

Member Function Documentation

◆ a()

const Eigen::VectorXd& a ( ) const

◆ b()

double 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.

◆ GetSparseMatrix()

Eigen::SparseMatrix<double> GetSparseMatrix ( ) const

◆ operator=() [1/2]

LinearCost& operator= ( const LinearCost & )

delete

◆ operator=() [2/2]

LinearCost& operator= ( LinearCost && )

delete

◆ update_coefficient_entry()

void update_coefficient_entry	(	int	i,
		double	val
	)

Updates one entry in the coefficient of the cost.

a[i] = val.

Parameters

i	The index of the coefficient to be updated.
val	The value of that updated entry.

◆ update_constant_term()

void update_constant_term ( double new_b )

Updates the constant term in the cost to new_b.

◆ UpdateCoefficients()

void UpdateCoefficients	(	const Eigen::Ref< const Eigen::VectorXd > &	new_a,
		double	new_b = `0.`
	)

Updates the coefficients of the cost.

Note that the number of variables (size of a) cannot change.

Parameters

new_a	New linear term.
new_b	(optional) New constant term.

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

◆ LinearCost() [1/3]

◆ LinearCost() [2/3]

◆ LinearCost() [3/3]

◆ ~LinearCost()

Member Function Documentation

◆ a()

◆ b()

◆ DoDisplay()

◆ DoEval() [1/3]

◆ DoEval() [2/3]

◆ DoEval() [3/3]

◆ DoToLatex()

◆ GetSparseMatrix()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ update_coefficient_entry()

◆ update_constant_term()

◆ UpdateCoefficients()