Drake
PolynomialConstraint Class Reference

Detailed Description

A constraint on the values of multivariate polynomials.

lb[i] <= Pi <= ub[i], where each P[i] is a multivariate polynomial in x, y...

The Polynomial class uses a different variable naming scheme; thus the caller must provide a list of Polynomial::VarType variables that correspond to the members of the MathematicalProgram::Binding (the individual scalar elements of the given VariableList).

#include <drake/solvers/constraint.h>

Public Member Functions

 PolynomialConstraint (const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
 Constructs a polynomial constraint. More...
 
 ~PolynomialConstraint () override
 
const VectorXPolypolynomials () const
 
const std::vector< Polynomiald::VarType > & poly_vars () const
 
Does not allow copy, move, or assignment
 PolynomialConstraint (const PolynomialConstraint &)=delete
 
PolynomialConstraintoperator= (const PolynomialConstraint &)=delete
 
 PolynomialConstraint (PolynomialConstraint &&)=delete
 
PolynomialConstraintoperator= (PolynomialConstraint &&)=delete
 
- Public Member Functions inherited from EvaluatorConstraint< PolynomialEvaluator >
 EvaluatorConstraint (const std::shared_ptr< PolynomialEvaluator > &evaluator, Args &&... args)
 Constructs an evaluator constraint, given the EvaluatorType instance (which will specify the number of constraints and variables), and will forward the remaining arguments to the Constraint constructor. More...
 
void set_bounds (const Eigen::Ref< const Eigen::VectorXd > &lower_bound, const Eigen::Ref< const Eigen::VectorXd > &upper_bound)
 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...
 
 EvaluatorConstraint (const EvaluatorConstraint &)=delete
 
 EvaluatorConstraint (EvaluatorConstraint &&)=delete
 
EvaluatorConstraintoperator= (const EvaluatorConstraint &)=delete
 
EvaluatorConstraintoperator= (EvaluatorConstraint &&)=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
 
Constraintoperator= (const Constraint &)=delete
 
 Constraint (Constraint &&)=delete
 
Constraintoperator= (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...
 
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
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (EvaluatorBase &&)=delete
 

Additional Inherited Members

- Protected Member Functions inherited from EvaluatorConstraint< PolynomialEvaluator >
const PolynomialEvaluatorevaluator () const
 Reference to the nested evaluator. More...
 
- 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 > &lower_bound, const Eigen::Ref< const Eigen::VectorXd > &upper_bound)
 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...
 
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)
 

Constructor & Destructor Documentation

◆ PolynomialConstraint() [1/3]

◆ PolynomialConstraint() [2/3]

◆ PolynomialConstraint() [3/3]

PolynomialConstraint ( const VectorXPoly polynomials,
const std::vector< Polynomiald::VarType > &  poly_vars,
const Eigen::VectorXd &  lb,
const Eigen::VectorXd &  ub 
)

Constructs a polynomial constraint.

Parameters
polynomialsPolynomial vector, a num_constraints x 1 vector.
poly_varsPolynomial variables, a num_vars x 1 vector.
lbLower bounds, a num_constraints x 1 vector.
ubUpper bounds, a num_constraints x 1 vector.

◆ ~PolynomialConstraint()

~PolynomialConstraint ( )
override

Member Function Documentation

◆ operator=() [1/2]

PolynomialConstraint& operator= ( const PolynomialConstraint )
delete

◆ operator=() [2/2]

PolynomialConstraint& operator= ( PolynomialConstraint &&  )
delete

◆ poly_vars()

const std::vector<Polynomiald::VarType>& poly_vars ( ) const

◆ polynomials()

const VectorXPoly& polynomials ( ) const

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