semidefinite_relaxation.h File Reference

#include <memory>
#include <vector>
#include "drake/solvers/mathematical_program.h"

Include dependency graph for semidefinite_relaxation.h:

Classes
struct	SemidefiniteRelaxationOptions
	Configuration options for the MakeSemidefiniteRelaxation. More...

Namespaces
namespace	drake
namespace	drake::solvers

Functions
std::unique_ptr< MathematicalProgram >	MakeSemidefiniteRelaxation (const MathematicalProgram &prog, const SemidefiniteRelaxationOptions &options={})
	Constructs a new MathematicalProgram which represents the semidefinite programming convex relaxation of the (likely nonconvex) program prog.
std::unique_ptr< MathematicalProgram >	MakeSemidefiniteRelaxation (const MathematicalProgram &prog, const std::vector< symbolic::Variables > &variable_groups, const SemidefiniteRelaxationOptions &options={})
	A version of MakeSemidefiniteRelaxation that allows for specifying the sparsity of the relaxation.