#include <drake/solvers/Optimization.h>

Classes
struct	SolverData

Public Types
enum	{ INITIAL_VARIABLE_ALLOCATION_NUM = 100 }

Public Member Functions
	OptimizationProblem ()

const DecisionVariableView	AddContinuousVariables (std::size_t num_new_vars, std::string name="x")

void	AddCost (std::shared_ptr< Constraint > const &obj, VariableList const &vars)

void	AddCost (std::shared_ptr< Constraint > const &obj)

template<typename F >
std::enable_if< !std::is_convertible< F, std::shared_ptr< Constraint > >::value, std::shared_ptr< Constraint > >::type	AddCost (F &&f, VariableList const &vars)

template<typename F >
std::enable_if< !std::is_convertible< F, std::shared_ptr< Constraint > >::value, std::shared_ptr< Constraint > >::type	AddCost (F &&f)

template<typename F >
std::shared_ptr< Constraint >	AddCost (std::unique_ptr< F > &&f, VariableList const &vars)

template<typename F >
std::shared_ptr< Constraint >	AddCost (std::unique_ptr< F > &&f)

template<typename DerivedQ , typename Derivedb >
std::shared_ptr< QuadraticConstraint >	AddQuadraticErrorCost (const Eigen::MatrixBase< DerivedQ > &Q, const Eigen::MatrixBase< Derivedb > &x_desired, const VariableList &vars)
	AddQuadraticErrorCost. More...

template<typename DerivedQ , typename Derivedb >
std::shared_ptr< QuadraticConstraint >	AddQuadraticErrorCost (const Eigen::MatrixBase< DerivedQ > &Q, const Eigen::MatrixBase< Derivedb > &x_desired)
	AddQuadraticErrorCost. More...

void	AddQuadraticCost (std::shared_ptr< QuadraticConstraint > const &obj, VariableList const &vars)
	AddQuadraticCost. More...

void	AddQuadraticCost (std::shared_ptr< QuadraticConstraint > const &obj)
	AddQuadraticCost. More...

template<typename DerivedQ , typename Derivedb >
std::shared_ptr< QuadraticConstraint >	AddQuadraticCost (const Eigen::MatrixBase< DerivedQ > &Q, const Eigen::MatrixBase< Derivedb > &b, const VariableList &vars)
	AddQuadraticCost. More...

template<typename DerivedQ , typename Derivedb >
std::shared_ptr< QuadraticConstraint >	AddQuadraticCost (const Eigen::MatrixBase< DerivedQ > &Q, const Eigen::MatrixBase< Derivedb > &b)
	AddQuadraticCost. More...

void	AddGenericConstraint (std::shared_ptr< Constraint > con, VariableList const &vars)
	AddGenericConstraint. More...

void	AddGenericConstraint (std::shared_ptr< Constraint > con)

void	AddLinearConstraint (std::shared_ptr< LinearConstraint > con, VariableList const &vars)
	AddLinearConstraint. More...

void	AddLinearConstraint (std::shared_ptr< LinearConstraint > con)
	AddLinearConstraint. More...

template<typename DerivedA , typename DerivedLB , typename DerivedUB >
std::shared_ptr< LinearConstraint >	AddLinearConstraint (const Eigen::MatrixBase< DerivedA > &A, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub, const VariableList &vars)
	AddLinearConstraint. More...

template<typename DerivedA , typename DerivedLB , typename DerivedUB >
std::shared_ptr< LinearConstraint >	AddLinearConstraint (const Eigen::MatrixBase< DerivedA > &A, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub)
	AddLinearConstraint. More...

void	AddLinearEqualityConstraint (std::shared_ptr< LinearEqualityConstraint > con, VariableList const &vars)
	AddLinearEqualityConstraint. More...

void	AddLinearEqualityConstraint (std::shared_ptr< LinearEqualityConstraint > con)
	AddLinearEqualityConstraint. More...

template<typename DerivedA , typename DerivedB >
std::shared_ptr< LinearEqualityConstraint >	AddLinearEqualityConstraint (const Eigen::MatrixBase< DerivedA > &Aeq, const Eigen::MatrixBase< DerivedB > &beq, const VariableList &vars)
	AddLinearEqualityConstraint. More...

template<typename DerivedA , typename DerivedB >
std::shared_ptr< LinearEqualityConstraint >	AddLinearEqualityConstraint (const Eigen::MatrixBase< DerivedA > &Aeq, const Eigen::MatrixBase< DerivedB > &beq)
	AddLinearEqualityConstraint. More...

void	AddBoundingBoxConstraint (std::shared_ptr< BoundingBoxConstraint > con, VariableList const &vars)
	AddBoundingBoxConstraint. More...

void	AddBoundingBoxConstraint (std::shared_ptr< BoundingBoxConstraint > con)
	AddBoundingBoxConstraint. More...

template<typename DerivedLB , typename DerivedUB >
std::shared_ptr< BoundingBoxConstraint >	AddBoundingBoxConstraint (const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub, const VariableList &vars)
	AddBoundingBoxConstraint. More...

template<typename DerivedLB , typename DerivedUB >
std::shared_ptr< BoundingBoxConstraint >	AddBoundingBoxConstraint (const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub)
	AddBoundingBoxConstraint. More...

template<typename DerivedM , typename Derivedq >
std::shared_ptr< LinearComplementarityConstraint >	AddLinearComplementarityConstraint (const Eigen::MatrixBase< DerivedM > &M, const Eigen::MatrixBase< Derivedq > &q, const VariableList &vars)
	AddLinearComplementarityConstraint. More...

template<typename DerivedM , typename Derivedq >
std::shared_ptr< LinearComplementarityConstraint >	AddLinearComplementarityConstraint (const Eigen::MatrixBase< DerivedM > &M, const Eigen::MatrixBase< Derivedq > &q)
	AddLinearComplementarityConstraint. More...

std::shared_ptr< Constraint >	AddPolynomialConstraint (const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub, const VariableList &vars)
	AddPolynomialConstraint. More...

std::shared_ptr< Constraint >	AddPolynomialConstraint (const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
	AddPolynomialConstraint. More...

template<typename Derived >
void	SetInitialGuess (const DecisionVariableView &var, const Eigen::MatrixBase< Derived > &x0)

SolutionResult	Solve ()
	Solve the OptimizationProblem. More...

void	PrintSolution ()

template<typename Derived >
void	SetDecisionVariableValues (const Eigen::MatrixBase< Derived > &x)

void	SetSolverOption (const std::string &solver_name, const std::string &solver_option, double option_value)
	Set an option for a particular solver. More...

void	SetSolverOption (const std::string &solver_name, const std::string &solver_option, int option_value)

void	SetSolverOption (const std::string &solver_name, const std::string &solver_option, const std::string &option_value)

const std::map< std::string, double > &	GetSolverOptionsDouble (const std::string &solver_name)

const std::map< std::string, int > &	GetSolverOptionsInt (const std::string &solver_name)

const std::map< std::string, std::string > &	GetSolverOptionsStr (const std::string &solver_name)

void	GetSolverResult (std::string solver_name, int solver_result) const
	Get the name and result code of the particular solver which was used to solve this OptimizationProblem. More...

void	SetSolverResult (const std::string &solver_name, int solver_result)

const std::list< Binding< Constraint > > &	generic_costs () const

const std::list< Binding< Constraint > > &	generic_constraints () const

const std::list< Binding< LinearEqualityConstraint > > &	linear_equality_constraints () const

const std::list< Binding< QuadraticConstraint > > &	quadratic_costs () const
	Getter for quadratic costs. More...

const std::list< Binding< LinearConstraint > > &	linear_constraints () const

std::list< Binding< Constraint > >	GetAllCosts () const
	GetAllCosts. More...

std::list< Binding< LinearConstraint > >	GetAllLinearConstraints () const

const std::list< Binding< BoundingBoxConstraint > > &	bounding_box_constraints () const

const std::list< Binding< LinearComplementarityConstraint > > &	linear_complementarity_constraints () const

template<typename T >
std::shared_ptr< T >	GetSolverData ()

size_t	num_vars () const

const Eigen::VectorXd &	initial_guess () const

Member Enumeration Documentation

anonymous enum

Enumerator
INITIAL_VARIABLE_ALLOCATION_NUM

Constructor & Destructor Documentation

OptimizationProblem ( )

inline

Member Function Documentation

void AddBoundingBoxConstraint	(	std::shared_ptr< BoundingBoxConstraint >	con,
		VariableList const &	vars
	)

inline

AddBoundingBoxConstraint.

Adds bounding box constraints referencing potentially a subset of the decision variables.

void AddBoundingBoxConstraint ( std::shared_ptr< BoundingBoxConstraint > con )

inline

AddBoundingBoxConstraint.

Adds bounding box constraints to the program for all (currently existing) variables.

std::shared_ptr<BoundingBoxConstraint> AddBoundingBoxConstraint	(	const Eigen::MatrixBase< DerivedLB > &	lb,
		const Eigen::MatrixBase< DerivedUB > &	ub,
		const VariableList &	vars
	)

inline

AddBoundingBoxConstraint.

Adds bounding box constraints referencing potentially a subset of the decision variables (defined in the vars parameter).

std::shared_ptr<BoundingBoxConstraint> AddBoundingBoxConstraint	(	const Eigen::MatrixBase< DerivedLB > &	lb,
		const Eigen::MatrixBase< DerivedUB > &	ub
	)

inline

AddBoundingBoxConstraint.

Adds bounding box constraints to the program for all (currently existing) variables.

const DecisionVariableView AddContinuousVariables	(	std::size_t	num_new_vars,
		std::string	name = `"x"`
	)

inline

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void AddCost	(	std::shared_ptr< Constraint > const &	obj,
		VariableList const &	vars
	)

inline

void AddCost ( std::shared_ptr< Constraint > const & obj )

inline

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std::enable_if< !std::is_convertible<F, std::shared_ptr<Constraint> >::value, std::shared_ptr<Constraint> >::type AddCost	(	F &&	f,
		VariableList const &	vars
	)

inline

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std::enable_if< !std::is_convertible<F, std::shared_ptr<Constraint> >::value, std::shared_ptr<Constraint> >::type AddCost ( F && f )

inline

std::shared_ptr<Constraint> AddCost	(	std::unique_ptr< F > &&	f,
		VariableList const &	vars
	)

inline

std::shared_ptr<Constraint> AddCost ( std::unique_ptr< F > && f )

inline

void AddGenericConstraint	(	std::shared_ptr< Constraint >	con,
		VariableList const &	vars
	)

inline

AddGenericConstraint.

Adds a generic constraint to the program. This should only be used if a more specific type of constraint is not available, as it may require the use of a significantly more expensive solver.

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void AddGenericConstraint ( std::shared_ptr< Constraint > con )

inline

std::shared_ptr<LinearComplementarityConstraint> AddLinearComplementarityConstraint	(	const Eigen::MatrixBase< DerivedM > &	M,
		const Eigen::MatrixBase< Derivedq > &	q,
		const VariableList &	vars
	)

inline

AddLinearComplementarityConstraint.

Adds a linear complementarity constraints referencing a subset of the decision variables.

std::shared_ptr<LinearComplementarityConstraint> AddLinearComplementarityConstraint	(	const Eigen::MatrixBase< DerivedM > &	M,
		const Eigen::MatrixBase< Derivedq > &	q
	)

inline

AddLinearComplementarityConstraint.

Adds a linear complementarity constraint to the program for all (currently existing) variables.

void AddLinearConstraint	(	std::shared_ptr< LinearConstraint >	con,
		VariableList const &	vars
	)

inline

AddLinearConstraint.

Adds linear constraints referencing potentially a subset of the decision variables (defined in the vars parameter).

void AddLinearConstraint ( std::shared_ptr< LinearConstraint > con )

inline

AddLinearConstraint.

Adds linear constraints to the program for all (currently existing) variables.

std::shared_ptr<LinearConstraint> AddLinearConstraint	(	const Eigen::MatrixBase< DerivedA > &	A,
		const Eigen::MatrixBase< DerivedLB > &	lb,
		const Eigen::MatrixBase< DerivedUB > &	ub,
		const VariableList &	vars
	)

inline

AddLinearConstraint.

Adds linear constraints referencing potentially a subset of the decision variables (defined in the vars parameter).

std::shared_ptr<LinearConstraint> AddLinearConstraint	(	const Eigen::MatrixBase< DerivedA > &	A,
		const Eigen::MatrixBase< DerivedLB > &	lb,
		const Eigen::MatrixBase< DerivedUB > &	ub
	)

inline

AddLinearConstraint.

Adds linear constraints to the program for all (currently existing) variables.

void AddLinearEqualityConstraint	(	std::shared_ptr< LinearEqualityConstraint >	con,
		VariableList const &	vars
	)

inline

AddLinearEqualityConstraint.

Adds linear equality constraints referencing potentially a subset of the decision variables (defined in the vars parameter).

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void AddLinearEqualityConstraint ( std::shared_ptr< LinearEqualityConstraint > con )

inline

AddLinearEqualityConstraint.

Adds linear equality constraints to the program for all (currently existing) variables.

std::shared_ptr<LinearEqualityConstraint> AddLinearEqualityConstraint	(	const Eigen::MatrixBase< DerivedA > &	Aeq,
		const Eigen::MatrixBase< DerivedB > &	beq,
		const VariableList &	vars
	)

inline

AddLinearEqualityConstraint.

Adds linear equality constraints referencing potentially a subset of the decision variables. Example: to add and equality constraint which only depends on two of the elements of x, you could use auto x = prog.AddContinuousDecisionVariable(6,"myvar"); prog.AddLinearEqualityConstraint(Aeq, beq,{x.row(2), x.row(5)}); where Aeq has exactly two columns.

std::shared_ptr<LinearEqualityConstraint> AddLinearEqualityConstraint	(	const Eigen::MatrixBase< DerivedA > &	Aeq,
		const Eigen::MatrixBase< DerivedB > &	beq
	)

inline

AddLinearEqualityConstraint.

Adds linear equality constraints to the program for all (currently existing) variables.

std::shared_ptr<Constraint> AddPolynomialConstraint	(	const VectorXPoly &	polynomials,
		const std::vector< Polynomiald::VarType > &	poly_vars,
		const Eigen::VectorXd &	lb,
		const Eigen::VectorXd &	ub,
		const VariableList &	vars
	)

inline

AddPolynomialConstraint.

Adds a polynomial constraint to the program referencing a subset of the decision variables (defined in the vars parameter).

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std::shared_ptr<Constraint> AddPolynomialConstraint	(	const VectorXPoly &	polynomials,
		const std::vector< Polynomiald::VarType > &	poly_vars,
		const Eigen::VectorXd &	lb,
		const Eigen::VectorXd &	ub
	)

inline

AddPolynomialConstraint.

Adds a polynomial constraint to the program referencing all of the decision variables.

void AddQuadraticCost	(	std::shared_ptr< QuadraticConstraint > const &	obj,
		VariableList const &	vars
	)

inline

AddQuadraticCost.

Adds a cost term of the form 0.5*x'*Q*x + b'x Applied to subset of the variables and pushes onto the quadratic cost data structure.

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void AddQuadraticCost ( std::shared_ptr< QuadraticConstraint > const & obj )

inline

AddQuadraticCost.

Adds a cost term of the form 0.5*x'*Q*x + b'x Applied to all (currently existing) variables.

std::shared_ptr<QuadraticConstraint> AddQuadraticCost	(	const Eigen::MatrixBase< DerivedQ > &	Q,
		const Eigen::MatrixBase< Derivedb > &	b,
		const VariableList &	vars
	)

inline

AddQuadraticCost.

Adds a cost term of the form 0.5*x'*Q*x + b'x Applied to subset of the variables

std::shared_ptr<QuadraticConstraint> AddQuadraticCost	(	const Eigen::MatrixBase< DerivedQ > &	Q,
		const Eigen::MatrixBase< Derivedb > &	b
	)

inline

AddQuadraticCost.

Adds a cost term of the form 0.5*x'*Q*x + b'x Applies to all (currently existing) variables.

std::shared_ptr<QuadraticConstraint> AddQuadraticErrorCost	(	const Eigen::MatrixBase< DerivedQ > &	Q,
		const Eigen::MatrixBase< Derivedb > &	x_desired,
		const VariableList &	vars
	)

inline

AddQuadraticErrorCost.

Adds a cost term of the form (x-x_desired)'Q(x-x_desired).

std::shared_ptr<QuadraticConstraint> AddQuadraticErrorCost	(	const Eigen::MatrixBase< DerivedQ > &	Q,
		const Eigen::MatrixBase< Derivedb > &	x_desired
	)

inline

AddQuadraticErrorCost.

Adds a cost term of the form (x-x_desired)'Q(x-x_desired). Applied to all (currently existing) variables.

const std::list<Binding<BoundingBoxConstraint> >& bounding_box_constraints ( ) const

inline

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const std::list<Binding<Constraint> >& generic_constraints ( ) const

inline

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const std::list<Binding<Constraint> >& generic_costs ( ) const

inline

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std::list<Binding<Constraint> > GetAllCosts ( ) const

inline

GetAllCosts.

Getter returning all costs (for now quadratic costs appended to generic costs).

std::list<Binding<LinearConstraint> > GetAllLinearConstraints ( ) const

inline

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std::shared_ptr<T> GetSolverData ( )

inline

const std::map<std::string, double>& GetSolverOptionsDouble ( const std::string & solver_name )

inline

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const std::map<std::string, int>& GetSolverOptionsInt ( const std::string & solver_name )

inline

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const std::map<std::string, std::string>& GetSolverOptionsStr ( const std::string & solver_name )

inline

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void GetSolverResult	(	std::string *	solver_name,
		int *	solver_result
	)		const

inline

Get the name and result code of the particular solver which was used to solve this OptimizationProblem.

The solver names and results are not documented here as this function is only intended for debugging, testing, and support of certain legacy APIs.

const Eigen::VectorXd& initial_guess ( ) const

inline

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const std::list<Binding<LinearComplementarityConstraint> >& linear_complementarity_constraints ( ) const

inline

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const std::list<Binding<LinearConstraint> >& linear_constraints ( ) const

inline

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const std::list<Binding<LinearEqualityConstraint> >& linear_equality_constraints ( ) const

inline

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size_t num_vars ( ) const

inline

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void PrintSolution ( )

inline

const std::list<Binding<QuadraticConstraint> >& quadratic_costs ( ) const

inline

Getter for quadratic costs.

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void SetDecisionVariableValues ( const Eigen::MatrixBase< Derived > & x )

inline

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void SetInitialGuess	(	const DecisionVariableView &	var,
		const Eigen::MatrixBase< Derived > &	x0
	)

inline

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void SetSolverOption	(	const std::string &	solver_name,
		const std::string &	solver_option,
		double	option_value
	)

inline

Set an option for a particular solver.

This interface does not do any verification of solver parameters beyond what an individual solver does for itself. It does not even verify that the specifed solver exists. Use this only when you have particular knowledge of what solver is being invoked, and exactly what tuning is required.

Supported solver names/options:

"SNOPT" – Paramater names and values as specified in SNOPT User's Guide section 7.7 "Description ofthe optional parameters", used as described in section 7.5 for snSet().

"IPOPT" – Paramater names and values as specified in IPOPT users guide section "Options Reference" http://www.coin-or.org/Ipopt/documentation/node40.html