Add python binding for QuadraticConstraint (#15313)

* Add python binding for QuadraticConstraint
RobotLocomotion · Jul 4, 2021 · dd7b1b8 · dd7b1b8
1 parent 3100784
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diff --git a/bindings/pydrake/solvers/mathematicalprogram_py.cc b/bindings/pydrake/solvers/mathematicalprogram_py.cc
@@ -42,6 +42,7 @@ using solvers::MathematicalProgramResult;
 using solvers::MatrixXDecisionVariable;
 using solvers::MatrixXIndeterminate;
 using solvers::PositiveSemidefiniteConstraint;
+using solvers::QuadraticConstraint;
 using solvers::QuadraticCost;
 using solvers::RotatedLorentzConeConstraint;
 using solvers::SolutionResult;
@@ -1576,6 +1577,19 @@ for every column of ``prog_var_vals``. )""")
       }),
           py::arg("lb"), py::arg("ub"), doc.BoundingBoxConstraint.ctor.doc);
 
+  py::class_<QuadraticConstraint, Constraint,
+      std::shared_ptr<QuadraticConstraint>>(
+      m, "QuadraticConstraint", doc.QuadraticConstraint.doc)
+      .def(py::init([](const Eigen::Ref<const Eigen::MatrixXd>& Q0,
+                        const Eigen::Ref<const Eigen::VectorXd>& b, double lb,
+                        double ub) {
+        return std::make_unique<QuadraticConstraint>(Q0, b, lb, ub);
+      }),
+          py::arg("Q0"), py::arg("b"), py::arg("lb"), py::arg("ub"),
+          doc.QuadraticConstraint.ctor.doc)
+      .def("Q", &QuadraticConstraint::Q, doc.QuadraticConstraint.Q.doc)
+      .def("b", &QuadraticConstraint::b, doc.QuadraticConstraint.b.doc);
+
   py::class_<PositiveSemidefiniteConstraint, Constraint,
       std::shared_ptr<PositiveSemidefiniteConstraint>>(m,
       "PositiveSemidefiniteConstraint", doc.PositiveSemidefiniteConstraint.doc)

diff --git a/bindings/pydrake/solvers/test/mathematicalprogram_test.py b/bindings/pydrake/solvers/test/mathematicalprogram_test.py
@@ -485,6 +485,12 @@ def test_bounding_box_constraint(self):
         np.testing.assert_array_equal(
             constraint.upper_bound(), np.array([2., 3.]))
 
+    def test_quadratic_constraint(self):
+        constraint = mp.QuadraticConstraint(
+            Q0=np.eye(2), b=np.array([1, 2.]), lb=0.5, ub=1.)
+        np.testing.assert_array_equal(constraint.Q(), np.eye(2))
+        np.testing.assert_array_equal(constraint.b(), np.array([1, 2.]))
+
     def test_positive_semidefinite_constraint(self):
         constraint = mp.PositiveSemidefiniteConstraint(rows=3)
         self.assertEqual(constraint.matrix_rows(), 3)