Drake
Drake C++ Documentation
SystemConstraintWrapper Class Reference

Detailed Description

This wrapper class wraps a SystemConstraint object to the format of solvers::Constraint.

The constraint is lower <= SystemConstraint.Calc(UpdateContextFromDecisionVaraibles(x)) <= upper where lower/upper are the lower and upper bounds of the SystemConstraint object. When the lower and upper are equal, this represents an equality constraint.

#include <drake/systems/optimization/system_constraint_wrapper.h>

Public Member Functions

 SystemConstraintWrapper (const System< double > *system_double, const System< AutoDiffXd > *system_autodiff, SystemConstraintIndex index, const Context< double > &context, UpdateContextFromDecisionVariablesFunction< double > updater_double, UpdateContextFromDecisionVariablesFunction< AutoDiffXd > updater_autodiff, int x_size)
 Wraps a single SystemConstraint of the given system into a solvers::Constraint. More...
 
 ~SystemConstraintWrapper () override
 
const System< AutoDiffXd > & system_autodiff () const
 Gets the AutoDiffXd type System stored in this constraint. More...
 
SystemConstraintIndex constraint_index () const
 Getter for the index of the constraint in the system. More...
 
Does not allow copy, move, or assignment
 SystemConstraintWrapper (const SystemConstraintWrapper &)=delete
 
SystemConstraintWrapperoperator= (const SystemConstraintWrapper &)=delete
 
 SystemConstraintWrapper (SystemConstraintWrapper &&)=delete
 
SystemConstraintWrapperoperator= (SystemConstraintWrapper &&)=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...
 
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
 
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 > &new_lb, const Eigen::Ref< const Eigen::VectorXd > &new_ub)
 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...
 
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)
 

Constructor & Destructor Documentation

◆ SystemConstraintWrapper() [1/3]

◆ SystemConstraintWrapper() [2/3]

◆ SystemConstraintWrapper() [3/3]

SystemConstraintWrapper ( const System< double > *  system_double,
const System< AutoDiffXd > *  system_autodiff,
SystemConstraintIndex  index,
const Context< double > &  context,
UpdateContextFromDecisionVariablesFunction< double updater_double,
UpdateContextFromDecisionVariablesFunction< AutoDiffXd updater_autodiff,
int  x_size 
)

Wraps a single SystemConstraint of the given system into a solvers::Constraint.

Note that this constraint doesn't require the System to support symbolic expressions. The wrapped solvers::Constraint is a generic nonlinear constraint.

Parameters
system_doubleThe System whose SystemConstraint is converted to solvers::Constraint.
system_autodiffThis system should be converted from system_double by converting the scalar type. If this is pointer is null, then the AutoDiffXd version of the system will be created internally inside this wrapper class.
indexThe index of the SystemConstraint in system_double (and also system_autodiff).
contextThe value stored in this context will be used in SystemConstraintWrapper::Eval. If updater_double (and updater_autodiff) doesn't update everything in the context (such as state, input, params, etc), then the un-updated part in the context will keep its value to those stored in context.
updater_doubleMaps x in SystemConstraintWrapper::Eval(x, &y) to a context. The context is then used in SystemConstraint.Calc(context).
updater_autodiffSame as updater_double, but works for autodiff type.
x_sizeThe number of variables bound with this constraint. Namely, the size of x in SystemConstraintWrapper.Eval(x, &y).

◆ ~SystemConstraintWrapper()

~SystemConstraintWrapper ( )
override

Member Function Documentation

◆ constraint_index()

SystemConstraintIndex constraint_index ( ) const

Getter for the index of the constraint in the system.

◆ operator=() [1/2]

◆ operator=() [2/2]

SystemConstraintWrapper& operator= ( const SystemConstraintWrapper )
delete

◆ system_autodiff()

const System<AutoDiffXd>& system_autodiff ( ) const

Gets the AutoDiffXd type System stored in this constraint.


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