Drake
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QuadraticConstraint Class Reference

lb <= .5 x'Qx + b'x <= ub More...

#include <drake/solvers/Constraint.h>

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Public Member Functions

template<typename DerivedQ , typename Derivedb >
 QuadraticConstraint (const Eigen::MatrixBase< DerivedQ > &Q, const Eigen::MatrixBase< Derivedb > &b, double lb, double ub)
 
 ~QuadraticConstraint () 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
 
virtual const Eigen::MatrixXd & Q () const
 
virtual const Eigen::VectorXd & b () const
 
- 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
 

Static Public Attributes

static const int kNumConstraints = 1
 

Additional Inherited Members

- Protected Attributes inherited from Constraint
Eigen::VectorXd lower_bound_
 
Eigen::VectorXd upper_bound_
 

Detailed Description

lb <= .5 x'Qx + b'x <= ub

Constructor & Destructor Documentation

QuadraticConstraint ( const Eigen::MatrixBase< DerivedQ > &  Q,
const Eigen::MatrixBase< Derivedb > &  b,
double  lb,
double  ub 
)
inline
~QuadraticConstraint ( )
inlineoverride

Member Function Documentation

virtual const Eigen::VectorXd& b ( ) const
inlinevirtual
void eval ( const Eigen::Ref< const Eigen::VectorXd > &  x,
Eigen::VectorXd &  y 
) const
inlineoverridevirtual

Implements Constraint.

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

Implements Constraint.

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virtual const Eigen::MatrixXd& Q ( ) const
inlinevirtual

Member Data Documentation

const int kNumConstraints = 1
static
The documentation for this class was generated from the following file: