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. More...

	LinearEqualityConstraint (const Eigen::SparseMatrix< double > &Aeq, const Eigen::Ref< const Eigen::VectorXd > &beq)
	Overloads the constructor with a sparse matrix Aeq. More...

	LinearEqualityConstraint (const Eigen::Ref< const Eigen::RowVectorXd > &a, double beq)
	Constructs the linear equality constraint a.dot(x) = beq. More...

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. More...

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. More...

	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. More...

	~LinearConstraint () override

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

const Eigen::MatrixXd &	GetDenseA () const
	Get the matrix A as a dense matrix. More...

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. More...

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. More...

void	RemoveTinyCoefficient (double tol)
	Sets A(i, j) to zero if abs(A(i, j)) <= tol. More...

bool	is_dense_A_constructed () const
	Returns true iff this constraint already has a dense representation, i.e, if GetDenseA() will be cheap. 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...

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...

	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. 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...

	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. 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::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...

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. More...

void	set_num_outputs (int num_outputs)

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.

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

drake/solvers/constraint.h

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ LinearEqualityConstraint() [1/5]

◆ LinearEqualityConstraint() [2/5]

◆ LinearEqualityConstraint() [3/5]

◆ LinearEqualityConstraint() [4/5]

◆ LinearEqualityConstraint() [5/5]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ UpdateCoefficients() [1/2]

◆ UpdateCoefficients() [2/2]