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70 lines
2.1 KiB
70 lines
2.1 KiB
2 years ago
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#pragma once
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#include <memory>
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#include <optional>
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#include <type_traits>
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#include <utility>
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#include "drake/common/symbolic/expression.h"
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#include "drake/solvers/binding.h"
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#include "drake/solvers/cost.h"
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#include "drake/solvers/function.h"
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namespace drake {
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namespace solvers {
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namespace internal {
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/*
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* Assist MathematicalProgram::AddLinearCost(...).
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*/
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Binding<LinearCost> ParseLinearCost(const symbolic::Expression& e);
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/*
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* Assist MathematicalProgram::AddQuadraticCost(...).
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*/
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Binding<QuadraticCost> ParseQuadraticCost(
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const symbolic::Expression& e,
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std::optional<bool> is_convex = std::nullopt);
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/*
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* Assist MathematicalProgram::AddPolynomialCost(...).
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*/
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Binding<PolynomialCost> ParsePolynomialCost(const symbolic::Expression& e);
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/*
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* Assist MathematicalProgram::AddCost(...).
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*/
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Binding<Cost> ParseCost(const symbolic::Expression& e);
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// TODO(eric.cousineau): Remove this when functor cost is no longer exposed
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// externally, and must be explicitly called.
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/**
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* Enables us to catch and provide a meaningful assertion if a Constraint is
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* passed in, when we should have a Cost.
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* @tparam F The class to test if it is convertible to variants of C.
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* @tparam C Intended to be either Cost or Constraint.
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*/
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template <typename F, typename C>
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struct is_binding_compatible
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: std::bool_constant<(std::is_convertible_v<F, C>) ||
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(std::is_convertible_v<F, std::shared_ptr<C>>) ||
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(std::is_convertible_v<F, std::unique_ptr<C>>) ||
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(std::is_convertible_v<F, Binding<C>>)> {};
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/**
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* Template condition to check if @p F is a candidate to be used to construct a
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* FunctionCost object for generic costs.
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* @tparam T The type to be tested.
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* @note Constraint is used to ensure that we do not preclude cost objects
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* that lost their CostShim type somewhere in the process.
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*/
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template <typename F>
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struct is_cost_functor_candidate
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: std::bool_constant<(!is_binding_compatible<F, Cost>::value) &&
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(!std::is_convertible_v<F, symbolic::Expression>)> {};
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} // namespace internal
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} // namespace solvers
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} // namespace drake
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