Detailed Description

A constraint is a function + lower and upper bounds.

Solver interfaces must acknowledge that these constraints are mutable. Parameters can change after the constraint is constructed and before the call to Solve().

It should support evaluating the constraint, and adding it to an optimization problem.

#include <drake/solvers/constraint.h>

Public Member Functions
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...

Does not allow copy, move, or assignment
	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...

bool	is_thread_safe () const
	Returns whether it is safe to call Eval in parallel. More...

	EvaluatorBase (const EvaluatorBase &)=delete

EvaluatorBase &	operator= (const EvaluatorBase &)=delete

	EvaluatorBase (EvaluatorBase &&)=delete

EvaluatorBase &	operator= (EvaluatorBase &&)=delete

Protected Member Functions
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 void	DoEval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const =0
	Implements expression evaluation for scalar type double. More...

virtual void	DoEval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const =0
	Implements expression evaluation for scalar type AutoDiffXd. More...

virtual void	DoEval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const =0
	Implements expression evaluation for scalar type symbolic::Expression. 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

◆ Constraint() [1/4]

Constraint ( const Constraint & )

delete

◆ Constraint() [2/4]

Constraint ( Constraint && )

delete

◆ Constraint() [3/4]

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.

Parameters

num_constraints.	The number of rows in the constraint output.
num_vars.	The number of rows in the input. If the input dimension is unknown, then set `num_vars` to Eigen::Dynamic.
lb	Lower bound, which must be a `num_constraints` x 1 vector, lb cannot contain NAN.
ub	Upper bound, which must be a `num_constraints` x 1 vector, ub cannot contain NAN.

See also: Eval(...)

◆ Constraint() [4/4]

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.

Parameters

num_constraints.	The number of rows in the constraint output.
num_vars.	The number of rows in the input. If the input dimension is unknown, then set `num_vars` to Eigen::Dynamic.

See also: Eval(...)

Member Function Documentation

◆ CheckSatisfied() [1/3]

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.

Parameters

x	A `num_vars` x 1 vector.
tol	A tolerance for bound checking.

Exceptions

std::exception if the size of x isn't correct.

◆ CheckSatisfied() [2/3]

bool CheckSatisfied	(	const Eigen::Ref< const AutoDiffVecXd > &	x,
		double	tol = `1E-6`
	)		const

◆ CheckSatisfied() [3/3]

symbolic::Formula CheckSatisfied ( const Eigen::Ref< const VectorX< symbolic::Variable >> & x ) const

◆ DoCheckSatisfied() [1/3]

virtual bool DoCheckSatisfied	(	const Eigen::Ref< const Eigen::VectorXd > &	x,
		const double	tol
	)		const

protectedvirtual

Reimplemented in LinearComplementarityConstraint.

◆ DoCheckSatisfied() [2/3]

virtual bool DoCheckSatisfied	(	const Eigen::Ref< const AutoDiffVecXd > &	x,
		const double	tol
	)		const

protectedvirtual

Reimplemented in LinearComplementarityConstraint.

◆ DoCheckSatisfied() [3/3]

virtual symbolic::Formula DoCheckSatisfied ( const Eigen::Ref< const VectorX< symbolic::Variable >> & x ) const

protectedvirtual

Reimplemented in LinearComplementarityConstraint.

◆ lower_bound()

const Eigen::VectorXd& lower_bound ( ) const

◆ num_constraints()

int num_constraints ( ) const

Number of rows in the output constraint.

◆ operator=() [1/2]

Constraint& operator= ( Constraint && )

delete

◆ operator=() [2/2]

Constraint& operator= ( const Constraint & )

delete

◆ set_bounds()

void set_bounds	(	const Eigen::Ref< const Eigen::VectorXd > &	new_lb,
		const Eigen::Ref< const Eigen::VectorXd > &	new_ub
	)

protected

Set the upper and lower bounds of the constraint.

Parameters

new_lb	. A `num_constraints` x 1 vector.
new_ub.	A `num_constraints` x 1 vector.

Note: If the users want to expose this method in a sub-class, do using Constraint::set_bounds, as in LinearConstraint.

◆ UpdateLowerBound()

void UpdateLowerBound ( const Eigen::Ref< const Eigen::VectorXd > & new_lb )

protected

Updates the lower bound.

Note: if the users want to expose this method in a sub-class, do using Constraint::UpdateLowerBound, as in LinearConstraint.

◆ UpdateUpperBound()

void UpdateUpperBound ( const Eigen::Ref< const Eigen::VectorXd > & new_ub )

protected

Updates the upper bound.

Note: if the users want to expose this method in a sub-class, do using Constraint::UpdateUpperBound, as in LinearConstraint.

◆ upper_bound()

const Eigen::VectorXd& upper_bound ( ) const

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

drake/solvers/constraint.h

Detailed Description

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ Constraint() [1/4]

◆ Constraint() [2/4]

◆ Constraint() [3/4]

◆ Constraint() [4/4]

Member Function Documentation

◆ CheckSatisfied() [1/3]

◆ CheckSatisfied() [2/3]

◆ CheckSatisfied() [3/3]

◆ DoCheckSatisfied() [1/3]

◆ DoCheckSatisfied() [2/3]

◆ DoCheckSatisfied() [3/3]

◆ lower_bound()

◆ num_constraints()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_bounds()

◆ UpdateLowerBound()

◆ UpdateUpperBound()

◆ upper_bound()