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...
 
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 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...
 
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

◆ 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
polynomialsPolynomial vector, a 1 x 1 vector.
poly_varsPolynomial 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

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