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Add python binding for MathematicalProgram::AddIndeterminates() and AddDecisionVariables() #12017

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merged 1 commit into from Sep 9, 2019
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Add python binding for MathematicalProgram::AddIndeterminates() and AddDecisionVariables() #12017

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10 changes: 10 additions & 0 deletions bindings/pydrake/solvers/mathematicalprogram_py.cc
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Expand Up @@ -417,6 +417,12 @@ top-level documentation for :py:mod:`pydrake.math`.
const std::string&)>(&MathematicalProgram::NewIndeterminates),
py::arg("rows"), py::arg("cols"), py::arg("name") = "X",
doc.MathematicalProgram.NewIndeterminates.doc_3args)
.def("AddIndeterminates", &MathematicalProgram::AddIndeterminates,
py::arg("new_indeterminates"),
doc.MathematicalProgram.AddIndeterminates.doc)
.def("AddDecisionVariables", &MathematicalProgram::AddDecisionVariables,
py::arg("decision_variables"),
doc.MathematicalProgram.AddDecisionVariables.doc)
.def("AddBoundingBoxConstraint",
static_cast<Binding<BoundingBoxConstraint> (MathematicalProgram::*)(
const Eigen::Ref<const Eigen::VectorXd>&,
Expand Down Expand Up @@ -680,6 +686,10 @@ top-level documentation for :py:mod:`pydrake.math`.
doc.MathematicalProgram.num_vars.doc)
.def("decision_variables", &MathematicalProgram::decision_variables,
doc.MathematicalProgram.decision_variables.doc)
.def("indeterminates", &MathematicalProgram::indeterminates,
doc.MathematicalProgram.indeterminates.doc)
.def("indeterminate", &MathematicalProgram::indeterminate, py::arg("i"),
doc.MathematicalProgram.indeterminate.doc)
.def("EvalBinding",
[](const MathematicalProgram& prog,
const Binding<EvaluatorBase>& binding,
Expand Down
14 changes: 14 additions & 0 deletions bindings/pydrake/solvers/test/mathematicalprogram_test.py
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Expand Up @@ -17,6 +17,7 @@

import pydrake
from pydrake.autodiffutils import AutoDiffXd
from pydrake.common.test_utilities import numpy_compare
from pydrake.forwarddiff import jacobian
from pydrake.math import ge
import pydrake.symbolic as sym
Expand Down Expand Up @@ -597,3 +598,16 @@ def test_infeasible_constraints(self):
infeasible = mp.GetInfeasibleConstraints(prog=prog, result=result,
tol=1e-4)
self.assertEquals(len(infeasible), 0)

def test_add_indeterminates_and_decision_variables(self):
prog = mp.MathematicalProgram()
x0 = sym.Variable("x0")
x1 = sym.Variable("x1")
a0 = sym.Variable("a0")
a1 = sym.Variable("a1")
prog.AddIndeterminates(np.array([x0, x1]))
prog.AddDecisionVariables(np.array([a0, a1]))
numpy_compare.assert_equal(prog.decision_variables()[0], a0)
numpy_compare.assert_equal(prog.decision_variables()[1], a1)
numpy_compare.assert_equal(prog.indeterminates()[0], x0)
numpy_compare.assert_equal(prog.indeterminate(1), x1)