MathematicalProgram Class Reference

A class for characterizing a mathematical program and choosing a solver. More...

#include <drake/solvers/MathematicalProgram.h>

Public Member Functions
	MathematicalProgram ()
void	AddGenericCost ()
	Call if problem requires minimizing some f(x). More...
void	AddGenericConstraint ()
	Call if problem requires bounding some f(x). More...
void	AddQuadraticCost ()
	Call if problem requires minimizing some quadratic. More...
void	AddQuadraticConstraint ()
	Call if problem requires bounding some quadratic. More...
void	AddLinearCost ()
	Call if problem requires minimizing some linear expression. More...
void	AddLinearConstraint ()
	Call if problem requires bounding some linear expression. More...
void	AddLinearEqualityConstraint ()
	Call if problem requires exact satisfaction of linear equation. More...
void	AddLinearComplementarityConstraint ()
	Call if problem contains a linear complementarity optimization. More...
SolutionResult	Solve (OptimizationProblem &prog) const
	Solve the given OptimizationProblem with an appropriate solver. More...

Detailed Description

A class for characterizing a mathematical program and choosing a solver.

MathematicalProgram allows an OptimizationProblem to choose an appropriate solver (MathematicalProgramSolverInterface) and to invoke that solver (via the Solve() method).

The problem simply calls the appropriate Add method of this class each time it adds a cost or constraint. Having done so, a call to Solve() will invoke an appropriate solver, or else throw an exception if no solver is available.

Constructor & Destructor Documentation

MathematicalProgram

(

)

Member Function Documentation

void AddGenericConstraint

(

)

Call if problem requires bounding some f(x).

void AddGenericCost

(

)

Call if problem requires minimizing some f(x).

void AddLinearComplementarityConstraint

(

)

Call if problem contains a linear complementarity optimization.

void AddLinearConstraint

(

)

Call if problem requires bounding some linear expression.

void AddLinearCost

(

)

Call if problem requires minimizing some linear expression.

void AddLinearEqualityConstraint

(

)

Call if problem requires exact satisfaction of linear equation.

void AddQuadraticConstraint

(

)

Call if problem requires bounding some quadratic.

void AddQuadraticCost

(

)

Call if problem requires minimizing some quadratic.

SolutionResult Solve

(

OptimizationProblem &

prog

)

const

Solve the given OptimizationProblem with an appropriate solver.

Throws std::runtime_error if no appropriate solver is available.

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

• drake/solvers/MathematicalProgram.h
• drake/solvers/MathematicalProgram.cpp