SystemConstraintBounds Class Reference

Detailed Description

The bounds of a SystemConstraint.

This also encompasses the form of the constraint: equality constraints occur when both the lower and upper bounds are all zeros.

#include <drake/systems/framework/system_constraint.h>

Public Member Functions
	SystemConstraintBounds ()
	Creates constraint bounds with zero size. More...
	SystemConstraintBounds (const Eigen::Ref< const Eigen::VectorXd > &lower, const Eigen::Ref< const Eigen::VectorXd > &upper)
	Creates a constraint with the given upper and lower bounds for f(x). More...
	SystemConstraintBounds (const Eigen::Ref< const Eigen::VectorXd > &lower, std::nullopt_t)
	Creates an inequality constraint with the given lower bounds for f(x). More...
	SystemConstraintBounds (std::nullopt_t, const Eigen::Ref< const Eigen::VectorXd > &upper)
	Creates an inequality constraint with the given upper bounds for f(x). More...
int	size () const
SystemConstraintType	type () const
const Eigen::VectorXd &	lower () const
const Eigen::VectorXd &	upper () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	SystemConstraintBounds (const SystemConstraintBounds &)=default
SystemConstraintBounds &	operator= (const SystemConstraintBounds &)=default
	SystemConstraintBounds (SystemConstraintBounds &&)=default
SystemConstraintBounds &	operator= (SystemConstraintBounds &&)=default

Static Public Member Functions
static SystemConstraintBounds	Equality (int size)
	Creates constraint of type SystemConstraintType::kEquality, with the given size for f(x). More...

Constructor & Destructor Documentation

SystemConstraintBounds() [1/6]

SystemConstraintBounds ( const SystemConstraintBounds &  )

default

SystemConstraintBounds() [2/6]

SystemConstraintBounds ( SystemConstraintBounds &&  )

default

SystemConstraintBounds() [3/6]

SystemConstraintBounds

(

)

Creates constraint bounds with zero size.

SystemConstraintBounds() [4/6]

SystemConstraintBounds	(	const Eigen::Ref< const Eigen::VectorXd > &	lower,
		const Eigen::Ref< const Eigen::VectorXd > &	upper
	)

Creates a constraint with the given upper and lower bounds for f(x).

The type() of this constraint will be kInequality, except in the unusual case where both lower and upper are all zeros (in which case it is kEquality). It is not currently allowed to set lower == upper (creating an equality constraint in the form f(x) = b), except when b == 0. Using a non-zero b might be allowed in the future.

SystemConstraintBounds() [5/6]

SystemConstraintBounds	(	const Eigen::Ref< const Eigen::VectorXd > &	lower,
		std::nullopt_t
	)

Creates an inequality constraint with the given lower bounds for f(x).

The upper bounds are all positive infinity.

SystemConstraintBounds() [6/6]

SystemConstraintBounds	(	std::nullopt_t	,
		const Eigen::Ref< const Eigen::VectorXd > &	upper
	)

Creates an inequality constraint with the given upper bounds for f(x).

The lower bounds are all negative infinity.

Member Function Documentation

Equality()

static SystemConstraintBounds Equality ( int  size )

static

Creates constraint of type SystemConstraintType::kEquality, with the given size for f(x).

lower()

const Eigen::VectorXd& lower

(

)

const

operator=() [1/2]

SystemConstraintBounds& operator= ( SystemConstraintBounds &&  )

default

operator=() [2/2]

SystemConstraintBounds& operator= ( const SystemConstraintBounds &  )

default

size()

int size

(

)

const

type()

SystemConstraintType type

(

)

const

upper()

const Eigen::VectorXd& upper

(

)

const

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

• drake/systems/framework/system_constraint.h