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BUILD.bazel
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BUILD.bazel
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load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
package(default_visibility = ["//visibility:public"])
drake_cc_package_library(
name = "optimization",
visibility = ["//visibility:public"],
deps = [
":system_constraint_adapter",
":system_constraint_wrapper",
],
)
drake_cc_library(
name = "system_constraint_wrapper",
srcs = ["system_constraint_wrapper.cc"],
hdrs = ["system_constraint_wrapper.h"],
deps = [
"//solvers:constraint",
"//systems/framework:system",
"//systems/framework:system_constraint",
],
)
drake_cc_library(
name = "system_constraint_adapter",
srcs = ["system_constraint_adapter.cc"],
hdrs = ["system_constraint_adapter.h"],
deps = [
":system_constraint_wrapper",
"//solvers:binding",
"//solvers:create_constraint",
],
)
drake_cc_library(
name = "system_optimization_test_util",
testonly = 1,
srcs = ["test/system_optimization_test_util.cc"],
hdrs = ["test/system_optimization_test_util.h"],
visibility = ["//visibility:private"],
deps = [
"//multibody/parsing",
"//multibody/plant",
"//systems/framework:leaf_system",
"@gtest//:without_main",
],
)
drake_cc_googletest(
name = "system_constraint_wrapper_test",
deps = [
":system_constraint_wrapper",
":system_optimization_test_util",
"//common/test_utilities:eigen_matrix_compare",
"//math:gradient",
],
)
drake_cc_googletest(
name = "system_constraint_adapter_test",
deps = [
":system_constraint_adapter",
":system_optimization_test_util",
"//common/test_utilities:eigen_matrix_compare",
"//common/test_utilities:expect_throws_message",
"//math:gradient",
"//solvers:solve",
"//systems/primitives:linear_system",
],
)
add_lint_tests(enable_clang_format_lint = False)