VisualizationCallback Class Reference

Detailed Description

Defines a simple evaluator with no outputs that takes a callback function pointer.

This is intended for debugging / visualization of intermediate results during an optimization (for solvers that support it).

#include <drake/solvers/evaluator_base.h>

Public Types
typedef std::function< void(const Eigen::Ref< const Eigen::VectorXd > &)>	CallbackFunction

Public Member Functions
	VisualizationCallback (int num_inputs, const CallbackFunction &callback, const std::string &description="")
void	EvalCallback (const Eigen::Ref< const Eigen::VectorXd > &x) const
Does not allow copy, move, or assignment
	VisualizationCallback (const VisualizationCallback &)=delete
VisualizationCallback &	operator= (const VisualizationCallback &)=delete
	VisualizationCallback (VisualizationCallback &&)=delete
VisualizationCallback &	operator= (VisualizationCallback &&)=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...
std::string	ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
	Returns a LaTeX string describing this 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...
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...
bool	is_thread_safe () const
	Returns whether it is safe to call Eval in parallel. More...
	EvaluatorBase (const EvaluatorBase &)=delete
EvaluatorBase &	operator= (const EvaluatorBase &)=delete
	EvaluatorBase (EvaluatorBase &&)=delete
EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Additional Inherited Members
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...
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)

Member Typedef Documentation

CallbackFunction

typedef std::function<void(const Eigen::Ref<const Eigen::VectorXd>&)> CallbackFunction

Constructor & Destructor Documentation

VisualizationCallback() [1/3]

VisualizationCallback ( const VisualizationCallback &  )

delete

VisualizationCallback() [2/3]

VisualizationCallback ( VisualizationCallback &&  )

delete

VisualizationCallback() [3/3]

VisualizationCallback	(	int	num_inputs,
		const CallbackFunction &	callback,
		const std::string &	description = ""
	)

Member Function Documentation

EvalCallback()

void EvalCallback

(

const Eigen::Ref< const Eigen::VectorXd > &

x

)

const

operator=() [1/2]

VisualizationCallback& operator= ( const VisualizationCallback &  )

delete

operator=() [2/2]

VisualizationCallback& operator= ( VisualizationCallback &&  )

delete

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

• drake/solvers/evaluator_base.h