forked from pz4kybsvg/Conception
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32 lines
919 B
32 lines
919 B
#pragma once
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#include <list>
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#include <Eigen/Core>
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#include "drake/common/symbolic/expression.h"
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namespace drake {
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namespace solvers {
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using DecisionVariable = symbolic::Variable;
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template <int rows, int cols>
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using MatrixDecisionVariable = Eigen::Matrix<symbolic::Variable, rows, cols>;
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template <int rows>
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using VectorDecisionVariable = MatrixDecisionVariable<rows, 1>;
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using MatrixXDecisionVariable =
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MatrixDecisionVariable<Eigen::Dynamic, Eigen::Dynamic>;
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using VectorXDecisionVariable = VectorDecisionVariable<Eigen::Dynamic>;
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using VariableRefList = std::list<Eigen::Ref<const VectorXDecisionVariable>>;
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/**
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* Concatenates each element in \p var_list into a single Eigen vector of
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* decision variables, returns this concatenated vector.
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*/
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[[nodiscard]] VectorXDecisionVariable ConcatenateVariableRefList(
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const VariableRefList& var_list);
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} // end namespace solvers
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} // end namespace drake
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