/
spectrahedron.h
86 lines (64 loc) · 2.85 KB
/
spectrahedron.h
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#pragma once
#include <memory>
#include <optional>
#include <utility>
#include <vector>
#include "drake/geometry/optimization/convex_set.h"
#include "drake/solvers/mathematical_program.h"
namespace drake {
namespace geometry {
namespace optimization {
/** Implements a spectrahedron (the feasible set of a semidefinite program).
The ambient dimension of the set is N(N+1)/2; the number of variables required
to describe the N-by-N semidefinite matrix.
By convention, a zero-dimensional spectrahedron is considered nonempty.
@ingroup geometry_optimization */
class Spectrahedron final : public ConvexSet {
public:
DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(Spectrahedron)
/** Default constructor (yields the zero-dimensional nonempty set). */
Spectrahedron();
/** Constructs the spectrahedron from a MathematicalProgram.
@throws std::exception if `prog.required_capabilities()` is not a subset of
supported_attributes(). */
explicit Spectrahedron(const solvers::MathematicalProgram& prog);
~Spectrahedron() final;
/** Returns the list of solvers::ProgramAttributes supported by this class. */
static const solvers::ProgramAttributes& supported_attributes();
// TODO(russt): Add PointInSet(MatrixXd X, double tol) overload, which will
// only work in the case where the ambient_dimension is ONLY symmetric
// matrices.
/** @throws Not implemented. */
using ConvexSet::CalcVolume;
private:
std::unique_ptr<ConvexSet> DoClone() const final;
std::optional<bool> DoIsBoundedShortcut() const final;
// N.B. No need to override DoMaybeGetPoint here.
std::optional<bool> DoPointInSetShortcut(
const Eigen::Ref<const Eigen::VectorXd>& x, double tol) const final;
std::pair<VectorX<symbolic::Variable>,
std::vector<solvers::Binding<solvers::Constraint>>>
DoAddPointInSetConstraints(
solvers::MathematicalProgram* prog,
const Eigen::Ref<const solvers::VectorXDecisionVariable>& vars)
const final;
std::vector<solvers::Binding<solvers::Constraint>>
DoAddPointInNonnegativeScalingConstraints(
solvers::MathematicalProgram* prog,
const Eigen::Ref<const solvers::VectorXDecisionVariable>& x,
const symbolic::Variable& t) const final;
std::vector<solvers::Binding<solvers::Constraint>>
DoAddPointInNonnegativeScalingConstraints(
solvers::MathematicalProgram* prog,
const Eigen::Ref<const Eigen::MatrixXd>& A,
const Eigen::Ref<const Eigen::VectorXd>& b,
const Eigen::Ref<const Eigen::VectorXd>& c, double d,
const Eigen::Ref<const solvers::VectorXDecisionVariable>& x,
const Eigen::Ref<const solvers::VectorXDecisionVariable>& t) const final;
std::pair<std::unique_ptr<Shape>, math::RigidTransformd> DoToShapeWithPose()
const final;
copyable_unique_ptr<solvers::MathematicalProgram> sdp_{};
};
} // namespace optimization
} // namespace geometry
} // namespace drake