forked from pz4kybsvg/Conception
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
26 lines
824 B
26 lines
824 B
2 years ago
|
#pragma once
|
||
|
|
|
||
|
|
#include <vector>
|
||
|
|
|
||
|
|
#include <Eigen/Core>
|
||
|
|
|
||
|
|
#include "drake/common/symbolic/polynomial.h"
|
||
|
|
|
||
|
|
namespace drake {
|
||
|
|
namespace solvers {
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Given input polynomial p, outputs a set M of monomials with the following
|
||
|
|
* guarantee: if p = f1*f1 + f2*f2 + ... + fn*fn for some (unknown) polynomials
|
||
|
|
* f1, f2, ..., fn, then the span of M contains f1, f2, ..., fn, Given M, one
|
||
|
|
* can then find the polynomials fi using semidefinite programming; see,
|
||
|
|
* e.g., Chapter 3 of Semidefinite Optimization and Convex Algebraic Geometry
|
||
|
|
* by G. Blekherman, P. Parrilo, R. Thomas.
|
||
|
|
* @param p A polynomial
|
||
|
|
* @return A vector whose entries are the elements of M
|
||
|
|
*/
|
||
|
|
[[nodiscard]] drake::VectorX<symbolic::Monomial> ConstructMonomialBasis(
|
||
|
|
const drake::symbolic::Polynomial& p);
|
||
|
|
} // namespace solvers
|
||
|
|
} // namespace drake
|