Pybind add constraint (#12371)

Add python binding for MathematicalProgram::AddConstraint(constraint, vars)
RobotLocomotion · Nov 20, 2019 · a388cbb · a388cbb
1 parent 6dd04af
commit a388cbb
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Showing 3 changed files with 20 additions and 2 deletions.
diff --git a/bindings/pydrake/solvers/mathematicalprogram_py.cc b/bindings/pydrake/solvers/mathematicalprogram_py.cc
@@ -512,6 +512,13 @@ top-level documentation for :py:mod:`pydrake.math`.
           static_cast<Binding<Constraint> (MathematicalProgram::*)(
               const Formula&)>(&MathematicalProgram::AddConstraint),
           doc.MathematicalProgram.AddConstraint.doc_1args_f)
+      .def("AddConstraint",
+          static_cast<Binding<Constraint> (MathematicalProgram::*)(
+              std::shared_ptr<Constraint>,
+              const Eigen::Ref<const VectorXDecisionVariable>& vars)>(
+              &MathematicalProgram::AddConstraint),
+          py::arg("constraint"), py::arg("vars"),
+          doc.MathematicalProgram.AddConstraint.doc_2args_con_vars)
       .def("AddLinearConstraint",
           static_cast<Binding<LinearConstraint> (MathematicalProgram::*)(
               const Eigen::Ref<const Eigen::MatrixXd>&,
@@ -977,6 +984,13 @@ top-level documentation for :py:mod:`pydrake.math`.
 
   py::class_<LinearConstraint, Constraint, std::shared_ptr<LinearConstraint>>(
       m, "LinearConstraint", doc.LinearConstraint.doc)
+      .def(py::init([](const Eigen::MatrixXd& A, const Eigen::VectorXd& lb,
+                        const Eigen::VectorXd& ub) {
+        return std::unique_ptr<LinearConstraint>(
+            new LinearConstraint(A, lb, ub));
+      }),
+          py::arg("A"), py::arg("lb"), py::arg("ub"),
+          doc.LinearConstraint.ctor.doc)
       .def("A", &LinearConstraint::A, doc.LinearConstraint.A.doc)
       .def("UpdateCoefficients",
           [](LinearConstraint& self, const Eigen::MatrixXd& new_A,

diff --git a/bindings/pydrake/solvers/test/mathematicalprogram_test.py b/bindings/pydrake/solvers/test/mathematicalprogram_test.py
@@ -2,6 +2,7 @@
 from pydrake.solvers.gurobi import GurobiSolver
 from pydrake.solvers.snopt import SnoptSolver
 from pydrake.solvers.mathematicalprogram import (
+    LinearConstraint,
     MathematicalProgramResult,
     SolverOptions,
     SolverType,
@@ -22,6 +23,7 @@
 from pydrake.math import ge
 import pydrake.symbolic as sym
 
+
 SNOPT_NO_GUROBI = SnoptSolver().available() and not GurobiSolver().available()
 
 
@@ -118,6 +120,9 @@ def test_mixed_integer_optimization(self):
         a = np.array([1.0, 2.0, 3.0])
         prog.AddLinearConstraint(a.dot(x) <= 4)
         prog.AddLinearConstraint(x[0] + x[1], 1, np.inf)
+        prog.AddConstraint(
+            LinearConstraint(np.array([[1., 1.]]), np.array([1]),
+                             np.array([np.inf])), [x[0], x[1]])
         solver = GurobiSolver()
         result = solver.Solve(prog, None, None)
         self.assertTrue(result.is_success())

diff --git a/solvers/mathematical_program.h b/solvers/mathematical_program.h
@@ -1135,8 +1135,7 @@ class MathematicalProgram {
    * only be used if a more specific type of constraint is not
    * available, as it may require the use of a significantly more
    * expensive solver.
-   *
-   * @exclude_from_pydrake_mkdoc{Not bound in pydrake.}
+   * @pydrake_mkdoc_identifier{2args_con_vars}
    */
   template <typename C>
   auto AddConstraint(std::shared_ptr<C> con,