sos_basis_generator.h File Reference

#include <vector>
#include <Eigen/Core>
#include "drake/common/symbolic/polynomial.h"

Include dependency graph for sos_basis_generator.h:

Namespaces
namespace	drake
namespace	drake::solvers

Functions
drake::VectorX< symbolic::Monomial >	ConstructMonomialBasis (const drake::symbolic::Polynomial &p)
	Given input polynomial p, outputs a set M of monomials with the following guarantee: if p = f1*f1 + f2*f2 + ... + fn*fn for some (unknown) polynomials f1, f2, ..., fn, then the span of M contains f1, f2, ..., fn, Given M, one can then find the polynomials fi using semidefinite programming; see, e.g., Chapter 3 of Semidefinite Optimization and Convex Algebraic Geometry by G.