Drake
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. More...

const VectorXPolypolynomials () const

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

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

PolynomialCostoperator= (const PolynomialCost &)=delete

PolynomialCost (PolynomialCost &&)=delete

PolynomialCostoperator= (PolynomialCost &&)=delete Public Member Functions inherited from EvaluatorCost< PolynomialEvaluator >
EvaluatorCost (const std::shared_ptr< PolynomialEvaluator > &evaluator)

EvaluatorCost (const EvaluatorCost &)=delete

EvaluatorCost (EvaluatorCost &&)=delete

EvaluatorCostoperator= (const EvaluatorCost &)=delete

EvaluatorCostoperator= (EvaluatorCost &&)=delete Public Member Functions inherited from Cost
Cost (const Cost &)=delete

Costoperator= (const Cost &)=delete

Cost (Cost &&)=delete

Costoperator= (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...

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...

EvaluatorBase (const EvaluatorBase &)=delete

EvaluatorBaseoperator= (const EvaluatorBase &)=delete

EvaluatorBase (EvaluatorBase &&)=delete

EvaluatorBaseoperator= (EvaluatorBase &&)=delete Protected Member Functions inherited from EvaluatorCost< PolynomialEvaluator >
const PolynomialEvaluatorevaluator () const

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... 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)

◆ 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.

◆ operator=() [1/2]

 PolynomialCost& operator= ( const PolynomialCost & )
delete

◆ operator=() [2/2]

 PolynomialCost& operator= ( PolynomialCost && )
delete

◆ poly_vars()

 const std::vector& poly_vars ( ) const

◆ polynomials()

 const VectorXPoly& polynomials ( ) const

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