PolynomialCost Class Reference

Detailed Description

Implements a cost of the form P(x, y...) where P 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 Binding<> (the individual scalar elements of the given VariableList).

#include <drake/solvers/cost.h>

Public Member Functions
	PolynomialCost (const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars)
	Constructs a polynomial cost.
const VectorXPoly &	polynomials () const
const std::vector< Polynomiald::VarType > &	poly_vars () const
Does not allow copy, move, or assignment
	PolynomialCost (const PolynomialCost &)=delete
PolynomialCost &	operator= (const PolynomialCost &)=delete
	PolynomialCost (PolynomialCost &&)=delete
PolynomialCost &	operator= (PolynomialCost &&)=delete
Public Member Functions inherited from EvaluatorCost< PolynomialEvaluator >
	EvaluatorCost (const EvaluatorCost &)=delete
EvaluatorCost &	operator= (const EvaluatorCost &)=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.
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 EvaluatorCost< PolynomialEvaluator >
const PolynomialEvaluator &	evaluator () const
void	DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const override
	Implements expression evaluation for scalar type double.
Protected Member Functions inherited from Cost
	Cost (int num_vars, const std::string &description="")
	Constructs a cost evaluator.
Protected Member Functions inherited from EvaluatorBase
	EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
	Constructs a evaluator.
virtual void	DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const =0
	Implements expression evaluation for scalar type AutoDiffXd.
virtual void	DoEval (const Eigen::Ref< const VectorX< symbolic::Variable > > &x, VectorX< symbolic::Expression > *y) const =0
	Implements expression evaluation for scalar type symbolic::Expression.
virtual std::ostream &	DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
	NVI implementation of Display.
virtual std::string	DoToLatex (const VectorX< symbolic::Variable > &vars, int precision) const
void	set_num_outputs (int num_outputs)
void	set_is_thread_safe (bool is_thread_safe)

Constructor & Destructor Documentation

PolynomialCost() [1/3]

PolynomialCost ( const PolynomialCost & )

delete

PolynomialCost() [2/3]

PolynomialCost ( PolynomialCost && )

delete

PolynomialCost() [3/3]

PolynomialCost	(	const VectorXPoly &	polynomials,
		const std::vector< Polynomiald::VarType > &	poly_vars )

Constructs a polynomial cost.

Parameters

polynomials	Polynomial vector, a 1 x 1 vector.
poly_vars	Polynomial variables, a num_vars x 1 vector.

Member Function Documentation

operator=() [1/2]

PolynomialCost & operator= ( const PolynomialCost & )

delete

operator=() [2/2]

PolynomialCost & operator= ( PolynomialCost && )

delete

poly_vars()

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

(

)

const

polynomials()

const VectorXPoly & polynomials

(

)

const

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

• drake/solvers/cost.h