LinearEqualityConstraint Class Reference

Detailed Description

Implements a constraint of the form \( Ax = b \).

#include <drake/solvers/constraint.h>

Public Member Functions
	LinearEqualityConstraint (const Eigen::Ref< const Eigen::MatrixXd > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq)
	Constructs the linear equality constraint Aeq * x = beq.
	LinearEqualityConstraint (const Eigen::SparseMatrix< double > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq)
	Overloads the constructor with a sparse matrix Aeq.
	LinearEqualityConstraint (const Eigen::Ref< const Eigen::RowVectorXd > &a, double beq)
	Constructs the linear equality constraint a.dot(x) = beq.
void	UpdateCoefficients (const Eigen::Ref< const Eigen::MatrixXd > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq)
void	UpdateCoefficients (const Eigen::SparseMatrix< double > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq)
	Overloads UpdateCoefficients but with a sparse A matrix.
Does not allow copy, move, or assignment
	LinearEqualityConstraint (const LinearEqualityConstraint &)=delete
LinearEqualityConstraint &	operator= (const LinearEqualityConstraint &)=delete
	LinearEqualityConstraint (LinearEqualityConstraint &&)=delete
LinearEqualityConstraint &	operator= (LinearEqualityConstraint &&)=delete
Public Member Functions inherited from LinearConstraint
	LinearConstraint (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
	Construct the linear constraint lb <= A*x <= ub.
	LinearConstraint (const Eigen::SparseMatrix< double > &A, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
	Overloads constructor with a sparse A matrix.
	~LinearConstraint () override
const Eigen::SparseMatrix< double > &	get_sparse_A () const
const Eigen::MatrixXd &	GetDenseA () const
	Get the matrix A as a dense matrix.
void	UpdateCoefficients (const Eigen::Ref< const Eigen::MatrixXd > &new_A, const Eigen::Ref< const Eigen::VectorXd > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Updates the linear term, upper and lower bounds in the linear constraint.
void	UpdateCoefficients (const Eigen::SparseMatrix< double > &new_A, const Eigen::Ref< const Eigen::VectorXd > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Overloads UpdateCoefficients but with a sparse A matrix.
void	RemoveTinyCoefficient (double tol)
	Sets A(i, j) to zero if abs(A(i, j)) <= tol.
bool	is_dense_A_constructed () const
	Returns true iff this constraint already has a dense representation, i.e, if GetDenseA() will be cheap.
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.
void	UpdateLowerBound (const Eigen::Ref< const Eigen::VectorXd > &new_lb)
	Updates the lower bound.
void	UpdateUpperBound (const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Updates the upper bound.
	LinearConstraint (const LinearConstraint &)=delete
LinearConstraint &	operator= (const LinearConstraint &)=delete
	LinearConstraint (LinearConstraint &&)=delete
LinearConstraint &	operator= (LinearConstraint &&)=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.
	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.
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.
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.
	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.
void	Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
	Evaluates the expression.
void	Eval (const Eigen::Ref< const VectorX< symbolic::Variable > > &x, VectorX< symbolic::Expression > *y) const
	Evaluates the expression.
void	set_description (const std::string &description)
	Set a human-friendly description for the evaluator.
const std::string &	get_description () const
	Getter for a human-friendly description for the evaluator.
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.
std::ostream &	Display (std::ostream &os) const
	Formats this evaluator into the given stream, without displaying the decision variables it is bound to.
std::string	ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
	Returns a LaTeX string describing this evaluator.
int	num_vars () const
	Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y).
int	num_outputs () const
	Getter for the number of outputs, namely the number of rows in y, as used in Eval(x, y).
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) .
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.
bool	is_thread_safe () const
	Returns whether it is safe to call Eval in parallel.
	EvaluatorBase (const EvaluatorBase &)=delete
EvaluatorBase &	operator= (const EvaluatorBase &)=delete
	EvaluatorBase (EvaluatorBase &&)=delete
EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Additional Inherited Members
Protected Member Functions inherited from LinearConstraint
void	DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const override
	Implements expression evaluation for scalar type double.
void	DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const override
	Implements expression evaluation for scalar type AutoDiffXd.
void	DoEval (const Eigen::Ref< const VectorX< symbolic::Variable > > &x, VectorX< symbolic::Expression > *y) const override
	Implements expression evaluation for scalar type symbolic::Expression.
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.
void	UpdateUpperBound (const Eigen::Ref< const Eigen::VectorXd > &new_ub)
	Updates the upper bound.
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.
virtual bool	DoCheckSatisfied (const Eigen::Ref< const Eigen::VectorXd > &x, const double tol) const
virtual bool	DoCheckSatisfied (const Eigen::Ref< const AutoDiffVecXd > &x, const double tol) const
virtual symbolic::Formula	DoCheckSatisfied (const Eigen::Ref< const VectorX< symbolic::Variable > > &x) const
Protected Member Functions inherited from EvaluatorBase
	EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
	Constructs a evaluator.
void	set_num_outputs (int num_outputs)
void	set_is_thread_safe (bool is_thread_safe)
Protected Attributes inherited from LinearConstraint
internal::SparseAndDenseMatrix	A_

Constructor & Destructor Documentation

LinearEqualityConstraint() [1/5]

LinearEqualityConstraint ( const LinearEqualityConstraint & )

delete

LinearEqualityConstraint() [2/5]

LinearEqualityConstraint ( LinearEqualityConstraint && )

delete

LinearEqualityConstraint() [3/5]

LinearEqualityConstraint	(	const Eigen::Ref< const Eigen::MatrixXd > &	Aeq,
		const Eigen::Ref< const Eigen::VectorXd > &	beq )

Constructs the linear equality constraint Aeq * x = beq.

Throws is any entry in Aeq or beq is not finite.

LinearEqualityConstraint() [4/5]

LinearEqualityConstraint	(	const Eigen::SparseMatrix< double > &	Aeq,
		const Eigen::Ref< const Eigen::VectorXd > &	beq )

Overloads the constructor with a sparse matrix Aeq.

LinearEqualityConstraint() [5/5]

LinearEqualityConstraint	(	const Eigen::Ref< const Eigen::RowVectorXd > &	a,
		double	beq )

Constructs the linear equality constraint a.dot(x) = beq.

Member Function Documentation

operator=() [1/2]

LinearEqualityConstraint & operator= ( const LinearEqualityConstraint & )

delete

operator=() [2/2]

LinearEqualityConstraint & operator= ( LinearEqualityConstraint && )

delete

UpdateCoefficients() [1/2]

void UpdateCoefficients	(	const Eigen::Ref< const Eigen::MatrixXd > &	Aeq,
		const Eigen::Ref< const Eigen::VectorXd > &	beq )

UpdateCoefficients() [2/2]

void UpdateCoefficients	(	const Eigen::SparseMatrix< double > &	Aeq,
		const Eigen::Ref< const Eigen::VectorXd > &	beq )

Overloads UpdateCoefficients but with a sparse A matrix.

Throws if any entry of beq or Aeq is not finite.

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

• drake/solvers/constraint.h