PolynomialConstraint Class Reference

lb[i] <= Pi <= ub[i], where each P[i] is a multivariate polynomial in x, y... More...

#include <drake/solvers/Constraint.h>

Inheritance diagram for PolynomialConstraint:

Collaboration diagram for PolynomialConstraint:

Public Member Functions
	PolynomialConstraint (const VectorXPoly &polynomials, const std::vector< Polynomiald::VarType > &poly_vars, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
	~PolynomialConstraint () override
void	eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd &y) const override
void	eval (const Eigen::Ref< const Drake::TaylorVecXd > &x, Drake::TaylorVecXd &y) const override
Public Member Functions inherited from Constraint
	Constraint (size_t num_constraints)
template<typename DerivedLB , typename DerivedUB >
	Constraint (size_t num_constraints, Eigen::MatrixBase< DerivedLB > const &lb, Eigen::MatrixBase< DerivedUB > const &ub)
virtual	~Constraint ()
Eigen::VectorXd const &	lower_bound () const
Eigen::VectorXd const &	upper_bound () const
size_t	num_constraints () const

Additional Inherited Members
Protected Attributes inherited from Constraint
Eigen::VectorXd	lower_bound_
Eigen::VectorXd	upper_bound_

Detailed Description

lb[i] <= Pi <= ub[i], where each P[i] is a multivariate polynomial in x, y...

A constraint on the values of multivariate polynomials.

The Polynomial class uses a different variable naming scheme; thus the caller must provide a list of Polynomial::VarType variables that correspond to the members of the OptimizationProblem::Binding (the individual scalar elements of the given VariableList).

Constructor & Destructor Documentation

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

inline

~PolynomialConstraint ( )

inlineoverride

Member Function Documentation

void eval ( const Eigen::Ref< const Eigen::VectorXd > &  x, Eigen::VectorXd &  y  ) const

inlineoverridevirtual

Implements Constraint.

Here is the call graph for this function:

void eval ( const Eigen::Ref< const Drake::TaylorVecXd > &  x, Drake::TaylorVecXd &  y  ) const

inlineoverridevirtual

Implements Constraint.

Here is the call graph for this function:

---

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

• drake/solvers/Constraint.h