replace_bilinear_terms.h File Reference

#include "drake/common/eigen_types.h"
#include "drake/common/symbolic/expression.h"

Include dependency graph for replace_bilinear_terms.h:

Namespaces
namespace	drake
namespace	drake::symbolic

Functions
symbolic::Expression	ReplaceBilinearTerms (const symbolic::Expression &e, const Eigen::Ref< const VectorX< symbolic::Variable > > &x, const Eigen::Ref< const VectorX< symbolic::Variable > > &y, const Eigen::Ref< const MatrixX< symbolic::Expression > > &W)
	Replaces all the bilinear product terms in the expression e, with the corresponding terms in W, where W represents the matrix x * yᵀ, such that after replacement, e does not have bilinear terms involving x and y.