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

SystemConstraintWrapper &	operator= (const SystemConstraintWrapper &)=delete

	SystemConstraintWrapper (SystemConstraintWrapper &&)=delete

SystemConstraintWrapper &	operator= (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

Constraint &	operator= (const Constraint &)=delete

	Constraint (Constraint &&)=delete

Constraint &	operator= (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...

	EvaluatorBase (const EvaluatorBase &)=delete

EvaluatorBase &	operator= (const EvaluatorBase &)=delete

	EvaluatorBase (EvaluatorBase &&)=delete

EvaluatorBase &	operator= (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)

Constructor & Destructor Documentation

◆ SystemConstraintWrapper() [1/3]

SystemConstraintWrapper ( const SystemConstraintWrapper & )

delete

◆ SystemConstraintWrapper() [2/3]

SystemConstraintWrapper ( SystemConstraintWrapper && )

delete

◆ 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_double	The System whose SystemConstraint is converted to solvers::Constraint.
system_autodiff	This 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.
index	The index of the SystemConstraint in `system_double` (and also `system_autodiff`).
context	The 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_double	Maps x in SystemConstraintWrapper::Eval(x, &y) to a context. The context is then used in SystemConstraint.Calc(context).
updater_autodiff	Same as `updater_double`, but works for autodiff type.
x_size	The 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]

SystemConstraintWrapper& operator= ( SystemConstraintWrapper && )

delete

◆ 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:

drake/systems/optimization/system_constraint_wrapper.h

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ SystemConstraintWrapper() [1/3]

◆ SystemConstraintWrapper() [2/3]

◆ SystemConstraintWrapper() [3/3]

◆ ~SystemConstraintWrapper()

Member Function Documentation

◆ constraint_index()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ system_autodiff()