Documentation: RobotLocomotion/drake@2bfa8e9

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doxygen_cxx/classdrake_1_1solvers_1_1_mathematical_program-members.html

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 <tr class="memdesc:a4c445bb3c911493f437f119372da5221"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a linear equality constraint represented by a symbolic formula to the program.  <a href="#a4c445bb3c911493f437f119372da5221">More...</a><br /></td></tr>
 <tr class="separator:a4c445bb3c911493f437f119372da5221"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4484b29040459724524c285b49aa850e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1solvers_1_1_binding.html">Binding</a>&lt; <a class="el" href="classdrake_1_1solvers_1_1_linear_equality_constraint.html">LinearEqualityConstraint</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1solvers_1_1_mathematical_program.html#a4484b29040459724524c285b49aa850e">AddLinearEqualityConstraint</a> (const Eigen::Ref&lt; const Eigen::Array&lt; <a class="el" href="classdrake_1_1symbolic_1_1_formula.html">symbolic::Formula</a>, Eigen::Dynamic, Eigen::Dynamic &gt;&gt; &amp;formulas)</td></tr>
+<tr class="memdesc:a4484b29040459724524c285b49aa850e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a linear equality constraint represented by an Eigen::Array&lt;symbolic::Formula&gt; to the program.  <a href="#a4484b29040459724524c285b49aa850e">More...</a><br /></td></tr>
+<tr class="separator:a4484b29040459724524c285b49aa850e"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a9164110d10cac0284a50a91b8308bae8"><td class="memTemplParams" colspan="2">template&lt;typename DerivedV , typename DerivedB &gt; </td></tr>
 <tr class="memitem:a9164110d10cac0284a50a91b8308bae8"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt; <a class="el" href="structdrake_1_1is__eigen__vector__expression__double__pair.html">is_eigen_vector_expression_double_pair</a>&lt; DerivedV, DerivedB &gt;::value, <a class="el" href="classdrake_1_1solvers_1_1_binding.html">Binding</a>&lt; <a class="el" href="classdrake_1_1solvers_1_1_linear_equality_constraint.html">LinearEqualityConstraint</a> &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classdrake_1_1solvers_1_1_mathematical_program.html#a9164110d10cac0284a50a91b8308bae8">AddLinearEqualityConstraint</a> (const Eigen::MatrixBase&lt; DerivedV &gt; &amp;v, const Eigen::MatrixBase&lt; DerivedB &gt; &amp;b)</td></tr>
 <tr class="memdesc:a9164110d10cac0284a50a91b8308bae8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds linear equality constraints \( v = b \), where <code>v(i)</code> is a symbolic linear expression.  <a href="#a9164110d10cac0284a50a91b8308bae8">More...</a><br /></td></tr>
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 <li><code>f</code> includes a non-linear expression. </li>
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classdrake_1_1solvers_1_1_binding.html">Binding</a>&lt;<a class="el" href="classdrake_1_1solvers_1_1_linear_equality_constraint.html">LinearEqualityConstraint</a>&gt; AddLinearEqualityConstraint </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Ref&lt; const Eigen::Array&lt; <a class="el" href="classdrake_1_1symbolic_1_1_formula.html">symbolic::Formula</a>, Eigen::Dynamic, Eigen::Dynamic &gt;&gt; &amp;&#160;</td>
+          <td class="paramname"><em>formulas</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adds a linear equality constraint represented by an Eigen::Array&lt;symbolic::Formula&gt; to the program. </p>
+<p>A common use-case of this function is to add a linear constraint with the element-wise comparison between two Eigen matrices, using <code>A.array() == B.array()</code>. See the following example.</p>
+<div class="fragment"><div class="line"><a class="code" href="classdrake_1_1solvers_1_1_mathematical_program.html#ac577d0f44c9c07256230cf2642ec6822">MathematicalProgram</a> prog;</div><div class="line">Eigen::Matrix&lt;double, 2, 2&gt; A;</div><div class="line"><span class="keyword">auto</span> <a class="code" href="pixel__types_8h.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a> = prog.NewContinuousVariables(2, <span class="stringliteral">&quot;x&quot;</span>);</div><div class="line"><a class="code" href="namespacedrake_1_1systems_1_1analysis_1_1test.html#a322dbcada3667894a629fe3f1a476f2a">Eigen::Vector2d</a> b;</div><div class="line">... <span class="comment">// set up A and b</span></div><div class="line">prog.AddLinearConstraint((A * <a class="code" href="pixel__types_8h.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a>).array() == b.array());</div></div><!-- fragment --><p>It throws an exception if <a class="el" href="classdrake_1_1solvers_1_1_mathematical_program.html#ade4bcd993d4cefb458564896160eebd2" title="Add a linear constraint represented by a symbolic formula to the program.">AddLinearConstraint(const symbolic::Formula&amp; f)</a> throws an exception for f ∈ <code>formulas</code>. </p><dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">Derived</td><td>An Eigen Array type of Formula. </td></tr>
+  </table>
+  </dd>
+</dl>
+
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