Drake
RotatedLorentzConeConstraint Class Reference

## Detailed Description

Constraining that the linear expression $$z=Ax+b$$ lies within rotated Lorentz cone.

A vector z ∈ ℝ ⁿ lies within rotated Lorentz cone, if

$z_0 \ge 0\\ z_1 \ge 0\\ z_0 z_1 \ge z_2^2 + z_3^2 + ... + z_{n-1}^2$

where A ∈ ℝ ⁿˣᵐ, b ∈ ℝ ⁿ are given matrices.

For more information and visualization, please refer to https://inst.eecs.berkeley.edu/~ee127a/book/login/l_socp_soc.html

#include <drake/solvers/constraint.h>

## Public Member Functions

RotatedLorentzConeConstraint (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b)

const Eigen::SparseMatrix< double > & A () const
Getter for A. More...

const Eigen::MatrixXd & A_dense () const
Getter for dense version of A. More...

const Eigen::VectorXd & b () const
Getter for b. More...

~RotatedLorentzConeConstraint () override

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

RotatedLorentzConeConstraintoperator= (const RotatedLorentzConeConstraint &)=delete

RotatedLorentzConeConstraint (RotatedLorentzConeConstraint &&)=delete

RotatedLorentzConeConstraintoperator= (RotatedLorentzConeConstraint &&)=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 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)

## ◆ RotatedLorentzConeConstraint() [1/3]

 RotatedLorentzConeConstraint ( const RotatedLorentzConeConstraint & )
delete

## ◆ RotatedLorentzConeConstraint() [2/3]

 RotatedLorentzConeConstraint ( RotatedLorentzConeConstraint && )
delete

## ◆ RotatedLorentzConeConstraint() [3/3]

 RotatedLorentzConeConstraint ( const Eigen::Ref< const Eigen::MatrixXd > & A, const Eigen::Ref< const Eigen::VectorXd > & b )

## ◆ ~RotatedLorentzConeConstraint()

 ~RotatedLorentzConeConstraint ( )
override

## ◆ A()

 const Eigen::SparseMatrix& A ( ) const

Getter for A.

## ◆ A_dense()

 const Eigen::MatrixXd& A_dense ( ) const

Getter for dense version of A.

## ◆ b()

 const Eigen::VectorXd& b ( ) const

Getter for b.

## ◆ operator=() [1/2]

 RotatedLorentzConeConstraint& operator= ( const RotatedLorentzConeConstraint & )
delete

## ◆ operator=() [2/2]

 RotatedLorentzConeConstraint& operator= ( RotatedLorentzConeConstraint && )
delete

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