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21 lines
513 B
21 lines
513 B
2 years ago
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#include "drake/solvers/decision_variable.h"
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namespace drake {
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namespace solvers {
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VectorXDecisionVariable ConcatenateVariableRefList(
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const VariableRefList& var_list) {
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int dim = 0;
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for (const auto& var : var_list) {
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dim += var.size();
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}
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VectorXDecisionVariable stacked_var(dim);
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int var_count = 0;
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for (const auto& var : var_list) {
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stacked_var.segment(var_count, var.rows()) = var;
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var_count += var.rows();
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}
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return stacked_var;
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}
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} // namespace solvers
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} // namespace drake
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