Drake
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
 
VisualizationCallbackoperator= (const VisualizationCallback &)=delete
 
 VisualizationCallback (VisualizationCallback &&)=delete
 
VisualizationCallbackoperator= (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...
 
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 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)
 

Member Typedef Documentation

◆ CallbackFunction

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

Constructor & Destructor Documentation

◆ VisualizationCallback() [1/3]

◆ VisualizationCallback() [2/3]

◆ 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

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