Represents a symbolic form of an expression. More...

#include </home/soonhokong/work/dreal4/third_party/com_github_robotlocomotion_drake/dreal/symbolic/symbolic_expression.h>

Public Member Functions
	Expression (const Expression &)

Expression &	operator= (const Expression &)

	Expression (Expression &&) noexcept

Expression &	operator= (Expression &&) noexcept

	Expression ()
	Default constructor. More...

	Expression (double d)
	Constructs a constant (floating-point). More...

	Expression (const Variable &var)
	Constructs an expression from `var`. More...

ExpressionKind	get_kind () const
	Returns expression kind. More...

size_t	get_hash () const
	Returns hash value. More...

const Variables &	GetVariables () const
	Collects variables in expression. More...

bool	EqualTo (const Expression &e) const
	Checks structural equality. More...

bool	Less (const Expression &e) const
	Provides lexicographical ordering between expressions. More...

bool	is_polynomial () const
	Checks if this symbolic expression is convertible to Polynomial. More...

bool	include_ite () const
	Returns true if this symbolic expression includes an ITE (If-Then-Else) expression. More...

double	Evaluate (const Environment &env=Environment{}) const
	Evaluates under a given environment (by default, an empty environment). More...

Expression	EvaluatePartial (const Environment &env) const
	Partially evaluates this expression using an environment `env`. More...

Expression	Expand () const
	Expands out products and positive integer powers in expression. More...

Expression	Substitute (const Variable &var, const Expression &e) const
	Returns a copy of this expression replacing all occurrences of `var` with `e`. More...

Expression	Substitute (const ExpressionSubstitution &expr_subst, const FormulaSubstitution &formula_subst) const
	Returns a copy of this expression replacing all occurrences of the variables in `expr_subst` with corresponding expressions in `expr_subst` and all occurrences of the variables in `formula_subst` with corresponding formulas in `formula_subst`. More...

Expression	Substitute (const ExpressionSubstitution &expr_subst) const
	Returns a copy of this expression replacing all occurrences of the variables in `expr_subst` with corresponding expressions in `expr_subst`. More...

Expression	Substitute (const FormulaSubstitution &formula_subst) const
	Returns a copy of this expression replacing all occurrences of the variables in `formula_subst` with corresponding formulas in `formula_subst`. More...

Expression	Differentiate (const Variable &x) const
	Differentiates this symbolic expression with respect to the variable `var`. More...

std::string	to_string () const
	Returns string representation of Expression. More...

Expression &	operator++ ()
	Provides prefix increment operator (i.e. More...

Expression	operator++ (int)
	Provides postfix increment operator (i.e. More...

Expression &	operator-- ()
	Provides prefix decrement operator (i.e. More...

Expression	operator-- (int)
	Provides postfix decrement operator (i.e. More...

Static Public Member Functions
static Expression	Zero ()
	Returns zero. More...

static Expression	One ()
	Returns one. More...

static Expression	Pi ()
	Returns Pi, the ratio of a circle’s circumference to its diameter. More...

static Expression	E ()
	Return e, the base of natural logarithms. More...

static Expression	NaN ()
	Returns NaN (Not-a-Number). More...

Friends
class	ExpressionAddFactory

class	ExpressionMulFactory

class	ExpressionCell

Expression	operator+ (const Expression &lhs, const Expression &rhs)

Expression	operator+ (const Expression &lhs, Expression &&rhs)

Expression	operator+ (Expression &&lhs, const Expression &rhs)

Expression	operator+ (Expression &&lhs, Expression &&rhs)

Expression &	operator+= (Expression &lhs, const Expression &rhs)

Expression	operator- (const Expression &lhs, const Expression &rhs)

Expression	operator- (const Expression &lhs, Expression &&rhs)

Expression	operator- (Expression &&lhs, const Expression &rhs)

Expression	operator- (Expression &&lhs, Expression &&rhs)

Expression &	operator-= (Expression &lhs, const Expression &rhs)

Expression	operator+ (const Expression &e)
	Provides unary plus operator. More...

Expression	operator- (const Expression &e)
	Provides unary minus operator. More...

Expression	operator- (Expression &&e)

Expression	operator* (const Expression &lhs, const Expression &rhs)

Expression	operator* (const Expression &lhs, Expression &&rhs)

Expression	operator* (Expression &&lhs, const Expression &rhs)

Expression	operator* (Expression &&lhs, Expression &&rhs)

Expression &	*operator=** (Expression &lhs, const Expression &rhs)

Expression	operator/ (Expression lhs, const Expression &rhs)

Expression &	operator/= (Expression &lhs, const Expression &rhs)

Expression	real_constant (double lb, double ub, bool use_lb_as_representative)
	Creates an real-constant expression represented by [`lb`, `ub`]. More...

Expression	log (const Expression &e)

Expression	abs (const Expression &e)

Expression	exp (const Expression &e)

Expression	sqrt (const Expression &e)

Expression	pow (const Expression &e1, const Expression &e2)

Expression	sin (const Expression &e)

Expression	cos (const Expression &e)

Expression	tan (const Expression &e)

Expression	asin (const Expression &e)

Expression	acos (const Expression &e)

Expression	atan (const Expression &e)

Expression	atan2 (const Expression &e1, const Expression &e2)

Expression	sinh (const Expression &e)

Expression	cosh (const Expression &e)

Expression	tanh (const Expression &e)

Expression	min (const Expression &e1, const Expression &e2)

Expression	max (const Expression &e1, const Expression &e2)

Expression	if_then_else (const Formula &f_cond, const Expression &e_then, const Expression &e_else)
	Constructs if-then-else expression. More...

Expression	uninterpreted_function (const std::string &name, const Variables &vars)
	Constructs an uninterpreted-function expression with `name` and `vars`. More...

std::ostream &	operator<< (std::ostream &os, const Expression &e)

void	swap (Expression &a, Expression &b)

bool	is_constant (const Expression &e)
	Checks if `e` is a floating-point constant expression. More...

bool	is_real_constant (const Expression &e)
	Checks if `e` is a real constant expression. More...

bool	is_variable (const Expression &e)
	Checks if `e` is a variable expression. More...

bool	is_addition (const Expression &e)
	Checks if `e` is an addition expression. More...

bool	is_multiplication (const Expression &e)
	Checks if `e` is a multiplication expression. More...

bool	is_division (const Expression &e)
	Checks if `e` is a division expression. More...

bool	is_log (const Expression &e)
	Checks if `e` is a log expression. More...

bool	is_abs (const Expression &e)
	Checks if `e` is an abs expression. More...

bool	is_exp (const Expression &e)
	Checks if `e` is an exp expression. More...

bool	is_sqrt (const Expression &e)
	Checks if `e` is a square-root expression. More...

bool	is_pow (const Expression &e)
	Checks if `e` is a power-function expression. More...

bool	is_sin (const Expression &e)
	Checks if `e` is a sine expression. More...

bool	is_cos (const Expression &e)
	Checks if `e` is a cosine expression. More...

bool	is_tan (const Expression &e)
	Checks if `e` is a tangent expression. More...

bool	is_asin (const Expression &e)
	Checks if `e` is an arcsine expression. More...

bool	is_acos (const Expression &e)
	Checks if `e` is an arccosine expression. More...

bool	is_atan (const Expression &e)
	Checks if `e` is an arctangent expression. More...

bool	is_atan2 (const Expression &e)
	Checks if `e` is an arctangent2 expression. More...

bool	is_sinh (const Expression &e)
	Checks if `e` is a hyperbolic-sine expression. More...

bool	is_cosh (const Expression &e)
	Checks if `e` is a hyperbolic-cosine expression. More...

bool	is_tanh (const Expression &e)
	Checks if `e` is a hyperbolic-tangent expression. More...

bool	is_min (const Expression &e)
	Checks if `e` is a min expression. More...

bool	is_max (const Expression &e)
	Checks if `e` is a max expression. More...

bool	is_if_then_else (const Expression &e)
	Checks if `e` is an if-then-else expression. More...

bool	is_uninterpreted_function (const Expression &e)
	Checks if `e` is an uninterpreted-function expression. More...

const ExpressionConstant *	to_constant (const Expression &e)
	Casts `e` of Expression to `const` ExpressionConstant*. More...

const ExpressionRealConstant *	to_real_constant (const Expression &e)
	Casts `e` of Expression to `const` ExpressionRealConstant*. More...

const ExpressionVar *	to_variable (const Expression &e)
	Casts `e` of Expression to `const` ExpressionVar*. More...

const UnaryExpressionCell *	to_unary (const Expression &e)
	Casts `e` of Expression to `const` UnaryExpressionCell*. More...

const BinaryExpressionCell *	to_binary (const Expression &e)
	Casts `e` of Expression to `const` BinaryExpressionCell*. More...

const ExpressionAdd *	to_addition (const Expression &e)
	Casts `e` of Expression to `const` ExpressionAdd*. More...

ExpressionAdd *	to_addition (Expression &e)
	Casts `e` of Expression to `ExpressionAdd*`. More...

const ExpressionMul *	to_multiplication (const Expression &e)
	Casts `e` of Expression to `const` ExpressionMul*. More...

ExpressionMul *	to_multiplication (Expression &e)
	Casts `e` of Expression to `ExpressionMul*`. More...

const ExpressionDiv *	to_division (const Expression &e)
	Casts `e` of Expression to `const` ExpressionDiv*. More...

const ExpressionLog *	to_log (const Expression &e)
	Casts `e` of Expression to `const` ExpressionLog*. More...

const ExpressionAbs *	to_abs (const Expression &e)
	Casts `e` of Expression to `const` ExpressionAbs*. More...

const ExpressionExp *	to_exp (const Expression &e)
	Casts `e` of Expression to `const` ExpressionExp*. More...

const ExpressionSqrt *	to_sqrt (const Expression &e)
	Casts `e` of Expression to `const` ExpressionSqrt*. More...

const ExpressionPow *	to_pow (const Expression &e)
	Casts `e` of Expression to `const` ExpressionPow*. More...

const ExpressionSin *	to_sin (const Expression &e)
	Casts `e` of Expression to `const` ExpressionSin*. More...

const ExpressionCos *	to_cos (const Expression &e)
	Casts `e` of Expression to `const` ExpressionCos*. More...

const ExpressionTan *	to_tan (const Expression &e)
	Casts `e` of Expression to `const` ExpressionTan*. More...

const ExpressionAsin *	to_asin (const Expression &e)
	Casts `e` of Expression to `const` ExpressionAsin*. More...

const ExpressionAcos *	to_acos (const Expression &e)
	Casts `e` of Expression to `const` ExpressionAcos*. More...

const ExpressionAtan *	to_atan (const Expression &e)
	Casts `e` of Expression to `const` ExpressionAtan*. More...

const ExpressionAtan2 *	to_atan2 (const Expression &e)
	Casts `e` of Expression to `const` ExpressionAtan2*. More...

const ExpressionSinh *	to_sinh (const Expression &e)
	Casts `e` of Expression to `const` ExpressionSinh*. More...

const ExpressionCosh *	to_cosh (const Expression &e)
	Casts `e` of Expression to `const` ExpressionCosh*. More...

const ExpressionTanh *	to_tanh (const Expression &e)
	Casts `e` of Expression to `const` ExpressionTanh*. More...

const ExpressionMin *	to_min (const Expression &e)
	Casts `e` of Expression to `const` ExpressionMin*. More...

const ExpressionMax *	to_max (const Expression &e)
	Casts `e` of Expression to `const` ExpressionMax*. More...

const ExpressionIfThenElse *	to_if_then_else (const Expression &e)
	Casts `e` of Expression to `const` ExpressionIfThenElse*. More...

const ExpressionUninterpretedFunction *	to_uninterpreted_function (const Expression &e)
	Casts `e` of Expression to `const ExpressionUninterpretedFunction*`. More...

Detailed Description

Represents a symbolic form of an expression.

Its syntax tree is as follows:

    E := Var | Constant(double) | RealConstant(double, double)
       | E + ... + E | E * ... * E | E / E | log(E)
       | abs(E) | exp(E) | sqrt(E) | pow(E, E) | sin(E) | cos(E) | tan(E)
       | asin(E) | acos(E) | atan(E) | atan2(E, E) | sinh(E) | cosh(E) | tanh(E)
       | min(E, E) | max(E, E) | if_then_else(F, E, E) | NaN
       | uninterpreted_function(name, {v_1, ..., v_n})

In the implementation, Expression is a simple wrapper including a pointer to ExpressionCell class which is a super-class of different kinds of symbolic expressions (i.e. ExpressionAdd, ExpressionMul, ExpressionLog, ExpressionSin).

Note: The sharing of sub-expressions is not yet implemented.; -E is represented as -1 * E internally.; A subtraction E1 - E2 is represented as E1 + (-1 * E2) internally.

The following simple simplifications are implemented:

    E + 0             ->  E
    0 + E             ->  E
    E - 0             ->  E
    E - E             ->  0
    E * 1             ->  E
    1 * E             ->  E
    E * 0             ->  0
    0 * E             ->  0
    E / 1             ->  E
    E / E             ->  1
    pow(E, 0)         ->  1
    pow(E, 1)         ->  E
    E * E             ->  E^2 (= pow(E, 2))
    sqrt(E * E)       ->  |E| (= abs(E))
    sqrt(E) * sqrt(E) -> E

Constant folding is implemented:

    E(c1) + E(c2)  ->  E(c1 + c2)    // c1, c2 are constants
    E(c1) - E(c2)  ->  E(c1 - c2)
    E(c1) * E(c2)  ->  E(c1 * c2)
    E(c1) / E(c2)  ->  E(c1 / c2)
    f(E(c))        ->  E(f(c))       // c is a constant, f is a math function

For the math functions which are only defined over a restricted domain (namely, log, sqrt, pow, asin, acos), we check the domain of argument(s), and throw std::domain_error exception if a function is not well-defined for a given argument(s).

Relational operators over expressions (==, !=, <, >, <=, >=) return symbolic::Formula instead of bool. Those operations are declared in symbolic_formula.h file. To check structural equality between two expressions a separate function, Expression::EqualTo, is provided.

Constructor & Destructor Documentation

◆ Expression() [1/3]

Expression ( )

Default constructor.

It constructs Zero().

◆ Expression() [2/3]

Expression ( double d )

Constructs a constant (floating-point).

◆ Expression() [3/3]

Expression ( const Variable & var )

Constructs an expression from var.

Precondition: var is neither a dummy nor a BOOLEAN variable.

Member Function Documentation

◆ Differentiate()

Expression Differentiate ( const Variable & x ) const

Differentiates this symbolic expression with respect to the variable var.

Exceptions

std::runtime_error if it is not differentiable.

◆ E()

Expression E ( )

static

Return e, the base of natural logarithms.

◆ EqualTo()

bool EqualTo ( const Expression & e ) const

Checks structural equality.

Two expressions e1 and e2 are structurally equal when they have the same internal AST(abstract-syntax tree) representation. Please note that we can have two computationally (or extensionally) equivalent expressions which are not structurally equal. For example, consider:

e1 = 2 * (x + y) e2 = 2x + 2y

Obviously, we know that e1 and e2 are evaluated to the same value for all assignments to x and y. However, e1 and e2 are not structurally equal by the definition. Note that e1 is a multiplication expression (is_multiplication(e1) is true) while e2 is an addition expression (is_addition(e2) is true).

One main reason we use structural equality in EqualTo is due to Richardson's Theorem. It states that checking ∀x. E(x) = F(x) is undecidable when we allow sin, asin, log, exp in E and F. Read https://en.wikipedia.org/wiki/Richardson%27s_theorem for details.

Note that for polynomial cases, you can use Expand method and check if two polynomial expressions p1 and p2 are computationally equal. To do so, you check the following:

(p1.Expand() - p2.Expand()).EqualTo(0).

◆ Evaluate()

double Evaluate ( const Environment & env = Environment{} ) const

Evaluates under a given environment (by default, an empty environment).

Exceptions

std::runtime_error if NaN is detected during evaluation.

◆ EvaluatePartial()

Expression EvaluatePartial ( const Environment & env ) const

Partially evaluates this expression using an environment env.

Internally, this method promotes env into a substitution (Variable → Expression) and call Evaluate::Substitute with it.

Exceptions

std::runtime_error if NaN is detected during evaluation.

◆ Expand()

Expression Expand ( ) const

Expands out products and positive integer powers in expression.

For example, (x + 1) * (x - 1) is expanded to x^2 - 1 and (x + y)^2 is expanded to x^2 + 2xy + y^2. Note that Expand applies recursively to sub-expressions. For instance, sin(2 * (x + y)) is expanded to sin(2x + 2y). It also simplifies "division by constant" cases. See "symbolic/test/symbolic_expansion_test.cc" to find the examples.

Exceptions

std::runtime_error if NaN is detected during expansion.

◆ get_hash()

size_t get_hash ( ) const

Returns hash value.

◆ get_kind()

ExpressionKind get_kind ( ) const

Returns expression kind.

◆ GetVariables()

const Variables & GetVariables ( ) const

Collects variables in expression.

◆ include_ite()

bool include_ite ( ) const

Returns true if this symbolic expression includes an ITE (If-Then-Else) expression.

◆ is_polynomial()

bool is_polynomial ( ) const

Checks if this symbolic expression is convertible to Polynomial.

◆ Less()

bool Less ( const Expression & e ) const

Provides lexicographical ordering between expressions.

This function is used as a compare function in map<Expression> and set<Expression> via std::less<dreal::drake::symbolic::Expression>.

◆ NaN()

Expression NaN ( )

static

Returns NaN (Not-a-Number).

◆ One()

Expression One ( )

static

Returns one.

◆ operator++() [1/2]

Expression & operator++ ( )

Provides prefix increment operator (i.e.

++x).

◆ operator++() [2/2]

Expression operator++ ( int )

Provides postfix increment operator (i.e.

x++).

◆ operator--() [1/2]

Expression & operator-- ( )

Provides prefix decrement operator (i.e.

–x).

◆ operator--() [2/2]

Expression operator-- ( int )

Provides postfix decrement operator (i.e.

x–).

◆ Pi()

Expression Pi ( )

static

Returns Pi, the ratio of a circle’s circumference to its diameter.

◆ Substitute() [1/4]

Expression Substitute	(	const Variable &	var,
		const Expression &	e
	)		const

Returns a copy of this expression replacing all occurrences of var with e.

Exceptions

std::runtime_error if NaN is detected during substitution.

◆ Substitute() [2/4]

Expression Substitute	(	const ExpressionSubstitution &	expr_subst,
		const FormulaSubstitution &	formula_subst
	)		const

Returns a copy of this expression replacing all occurrences of the variables in expr_subst with corresponding expressions in expr_subst and all occurrences of the variables in formula_subst with corresponding formulas in formula_subst.

Note that the substitutions occur simultaneously. For example, (x / y).Substitute({{x, y}, {y, x}}, {}) gets (y / x).

Exceptions

std::runtime_error if NaN is detected during substitution.

◆ Substitute() [3/4]

Expression Substitute ( const ExpressionSubstitution & expr_subst ) const

Returns a copy of this expression replacing all occurrences of the variables in expr_subst with corresponding expressions in expr_subst.

Note: This is equivalent to Substitute(expr_subst, {}).

Exceptions

std::runtime_error if NaN is detected during substitution.

◆ Substitute() [4/4]

Expression Substitute ( const FormulaSubstitution & formula_subst ) const

Returns a copy of this expression replacing all occurrences of the variables in formula_subst with corresponding formulas in formula_subst.

Note: This is equivalent to Substitute({}, formula_subst).

Exceptions

std::runtime_error if NaN is detected during substitution.

◆ to_string()

string to_string ( ) const

Returns string representation of Expression.

◆ Zero()

Expression Zero ( )

static

Returns zero.

Friends And Related Function Documentation

◆ if_then_else

Expression if_then_else	(	const Formula &	f_cond,
		const Expression &	e_then,
		const Expression &	e_else
	)

friend

Constructs if-then-else expression.

  if_then_else(cond, expr_then, expr_else)

The value returned by the above if-then-else expression is expr_then if cond is evaluated to true. Otherwise, it returns expr_else.

The semantics is similar to the C++'s conditional expression constructed by its ternary operator, ?:. However, there is a key difference between the C++'s conditional expression and our if_then_else expression in a way the arguments are evaluated during the construction.

In case of the C++'s conditional expression, cond ? expr_then : expr_else, the then expression expr_then (respectively, the else expression expr_else) is only evaluated when the conditional expression cond is evaluated to true (respectively, when cond is evaluated to false).
In case of the symbolic expression, if_then_else(cond, expr_then, expr_else), however, both arguments expr_then and expr_else are evaluated first and then passed to the if_then_else function.

Note: This function returns an expression and it is different from the C++'s if-then-else statement.; While it is still possible to define min, max, abs math functions using if_then_else expression, it is highly recommended to use the provided native definitions for them because it allows solvers to detect specific math functions and to have a room for special optimizations.; More information about the C++'s conditional expression and ternary operator is available at http://en.cppreference.com/w/cpp/language/operator_other#Conditional_operator.

◆ is_abs

bool is_abs ( const Expression & e )

friend

Checks if e is an abs expression.

◆ is_acos

bool is_acos ( const Expression & e )

friend

Checks if e is an arccosine expression.

◆ is_addition

bool is_addition ( const Expression & e )

friend

Checks if e is an addition expression.

◆ is_asin

bool is_asin ( const Expression & e )

friend

Checks if e is an arcsine expression.

◆ is_atan

bool is_atan ( const Expression & e )

friend

Checks if e is an arctangent expression.

◆ is_atan2

bool is_atan2 ( const Expression & e )

friend

Checks if e is an arctangent2 expression.

◆ is_constant

bool is_constant ( const Expression & e )

friend

Checks if e is a floating-point constant expression.

◆ is_cos

bool is_cos ( const Expression & e )

friend

Checks if e is a cosine expression.

◆ is_cosh

bool is_cosh ( const Expression & e )

friend

Checks if e is a hyperbolic-cosine expression.

◆ is_division

bool is_division ( const Expression & e )

friend

Checks if e is a division expression.

◆ is_exp

bool is_exp ( const Expression & e )

friend

Checks if e is an exp expression.

◆ is_if_then_else

bool is_if_then_else ( const Expression & e )

friend

Checks if e is an if-then-else expression.

◆ is_log

bool is_log ( const Expression & e )

friend

Checks if e is a log expression.

◆ is_max

bool is_max ( const Expression & e )

friend

Checks if e is a max expression.

◆ is_min

bool is_min ( const Expression & e )

friend

Checks if e is a min expression.

◆ is_multiplication

bool is_multiplication ( const Expression & e )

friend

Checks if e is a multiplication expression.

◆ is_pow

bool is_pow ( const Expression & e )

friend

Checks if e is a power-function expression.

◆ is_real_constant

bool is_real_constant ( const Expression & e )

friend

Checks if e is a real constant expression.

◆ is_sin

bool is_sin ( const Expression & e )

friend

Checks if e is a sine expression.

◆ is_sinh

bool is_sinh ( const Expression & e )

friend

Checks if e is a hyperbolic-sine expression.

◆ is_sqrt

bool is_sqrt ( const Expression & e )

friend

Checks if e is a square-root expression.

◆ is_tan

bool is_tan ( const Expression & e )

friend

Checks if e is a tangent expression.

◆ is_tanh

bool is_tanh ( const Expression & e )

friend

Checks if e is a hyperbolic-tangent expression.

◆ is_uninterpreted_function

bool is_uninterpreted_function ( const Expression & e )

friend

Checks if e is an uninterpreted-function expression.

◆ is_variable

bool is_variable ( const Expression & e )

friend

Checks if e is a variable expression.

◆ operator+

Expression operator+ ( const Expression & e )

friend

Provides unary plus operator.

◆ operator-

Expression operator- ( const Expression & e )

friend

Provides unary minus operator.

◆ real_constant

Expression real_constant	(	double	lb,
		double	ub,
		bool	use_lb_as_representative
	)

friend

Creates an real-constant expression represented by [lb, ub].

use_lb_as_representative is used to select its representative value. If it is true, lb is used. Otherwise, ub is used.

◆ to_abs

const ExpressionAbs* to_abs ( const Expression & e )

friend

Casts e of Expression to const ExpressionAbs*.

Precondition: *(e.ptr_) is of ExpressionAbs.

◆ to_acos

const ExpressionAcos* to_acos ( const Expression & e )

friend

Casts e of Expression to const ExpressionAcos*.

Precondition: *(e.ptr_) is of ExpressionAcos.

◆ to_addition [1/2]

const ExpressionAdd* to_addition ( const Expression & e )

friend

Casts e of Expression to const ExpressionAdd*.

Precondition: *(e.ptr_) is of ExpressionAdd.

◆ to_addition [2/2]

ExpressionAdd* to_addition ( Expression & e )

friend

Casts e of Expression to ExpressionAdd*.

Precondition: *(e.ptr_) is of ExpressionAdd.

◆ to_asin

const ExpressionAsin* to_asin ( const Expression & e )

friend

Casts e of Expression to const ExpressionAsin*.

Precondition: *(e.ptr_) is of ExpressionAsin.

◆ to_atan

const ExpressionAtan* to_atan ( const Expression & e )

friend

Casts e of Expression to const ExpressionAtan*.

Precondition: *(e.ptr_) is of ExpressionAtan.

◆ to_atan2

const ExpressionAtan2* to_atan2 ( const Expression & e )

friend

Casts e of Expression to const ExpressionAtan2*.

Precondition: *(e.ptr_) is of ExpressionAtan2.

◆ to_binary

const BinaryExpressionCell* to_binary ( const Expression & e )

friend

Casts e of Expression to const BinaryExpressionCell*.

Precondition: *(e.ptr_) is of BinaryExpressionCell.

◆ to_constant

const ExpressionConstant* to_constant ( const Expression & e )

friend

Casts e of Expression to const ExpressionConstant*.

Precondition: *(e.ptr_) is of ExpressionConstant.

◆ to_cos

const ExpressionCos* to_cos ( const Expression & e )

friend

Casts e of Expression to const ExpressionCos*.

Precondition: *(e.ptr_) is of ExpressionCos.

◆ to_cosh

const ExpressionCosh* to_cosh ( const Expression & e )

friend

Casts e of Expression to const ExpressionCosh*.

Precondition: *(e.ptr_) is of ExpressionCosh.

◆ to_division

const ExpressionDiv* to_division ( const Expression & e )

friend

Casts e of Expression to const ExpressionDiv*.

Precondition: *(e.ptr_) is of ExpressionDiv.

◆ to_exp

const ExpressionExp* to_exp ( const Expression & e )

friend

Casts e of Expression to const ExpressionExp*.

Precondition: *(e.ptr_) is of ExpressionExp.

◆ to_if_then_else

const ExpressionIfThenElse* to_if_then_else ( const Expression & e )

friend

Casts e of Expression to const ExpressionIfThenElse*.

Precondition: *(e.ptr_) is of ExpressionIfThenElse.

◆ to_log

const ExpressionLog* to_log ( const Expression & e )

friend

Casts e of Expression to const ExpressionLog*.

Precondition: *(e.ptr_) is of ExpressionLog.

◆ to_max

const ExpressionMax* to_max ( const Expression & e )

friend

Casts e of Expression to const ExpressionMax*.

Precondition: *(e.ptr_) is of ExpressionMax.

◆ to_min

const ExpressionMin* to_min ( const Expression & e )

friend

Casts e of Expression to const ExpressionMin*.

Precondition: *(e.ptr_) is of ExpressionMin.

◆ to_multiplication [1/2]

const ExpressionMul* to_multiplication ( const Expression & e )

friend

Casts e of Expression to const ExpressionMul*.

Precondition: *(e.ptr_) is of ExpressionMul.

◆ to_multiplication [2/2]

ExpressionMul* to_multiplication ( Expression & e )

friend

Casts e of Expression to ExpressionMul*.

Precondition: *(e.ptr_) is of ExpressionMul.

◆ to_pow

const ExpressionPow* to_pow ( const Expression & e )

friend

Casts e of Expression to const ExpressionPow*.

Precondition: *(e.ptr_) is of ExpressionPow.

◆ to_real_constant

const ExpressionRealConstant* to_real_constant ( const Expression & e )

friend

Casts e of Expression to const ExpressionRealConstant*.

Precondition: *(e.ptr_) is of ExpressionRealConstant.

◆ to_sin

const ExpressionSin* to_sin ( const Expression & e )

friend

Casts e of Expression to const ExpressionSin*.

Precondition: *(e.ptr_) is of ExpressionSin.

◆ to_sinh

const ExpressionSinh* to_sinh ( const Expression & e )

friend

Casts e of Expression to const ExpressionSinh*.

Precondition: *(e.ptr_) is of ExpressionSinh.

◆ to_sqrt

const ExpressionSqrt* to_sqrt ( const Expression & e )

friend

Casts e of Expression to const ExpressionSqrt*.

Precondition: *(e.ptr_) is of ExpressionSqrt.

◆ to_tan

const ExpressionTan* to_tan ( const Expression & e )

friend

Casts e of Expression to const ExpressionTan*.

Precondition: *(e.ptr_) is of ExpressionTan.

◆ to_tanh

const ExpressionTanh* to_tanh ( const Expression & e )

friend

Casts e of Expression to const ExpressionTanh*.

Precondition: *(e.ptr_) is of ExpressionTanh.

◆ to_unary

const UnaryExpressionCell* to_unary ( const Expression & e )

friend

Casts e of Expression to const UnaryExpressionCell*.

Precondition: *(e.ptr_) is of UnaryExpressionCell.

◆ to_uninterpreted_function

const ExpressionUninterpretedFunction* to_uninterpreted_function ( const Expression & e )

friend

Casts e of Expression to const ExpressionUninterpretedFunction*.

Precondition: *(e.ptr_) is of ExpressionUninterpretedFunction.

◆ to_variable

const ExpressionVar* to_variable ( const Expression & e )

friend

Casts e of Expression to const ExpressionVar*.

Precondition: *(e.ptr_) is of ExpressionVar.

◆ uninterpreted_function

Expression uninterpreted_function	(	const std::string &	name,
		const Variables &	vars
	)

friend

Constructs an uninterpreted-function expression with name and vars.

An uninterpreted function is an opaque function that has no other property than its name and a set of its arguments. This is useful to applications where it is good enough to provide abstract information of a function without exposing full details. Declaring sparsity of a system is a typical example.

See also FunctionalForm::Arbitrary(Variables v) which shares the same motivation.

The documentation for this class was generated from the following files:

/home/soonhokong/work/dreal4/third_party/com_github_robotlocomotion_drake/dreal/symbolic/symbolic_expression.h
/home/soonhokong/work/dreal4/third_party/com_github_robotlocomotion_drake/dreal/symbolic/symbolic_expression.cc

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Expression() [1/3]

◆ Expression() [2/3]

◆ Expression() [3/3]

Member Function Documentation

◆ Differentiate()

◆ E()

◆ EqualTo()

◆ Evaluate()

◆ EvaluatePartial()

◆ Expand()

◆ get_hash()

◆ get_kind()

◆ GetVariables()

◆ include_ite()

◆ is_polynomial()

◆ Less()

◆ NaN()

◆ One()

◆ operator++() [1/2]

◆ operator++() [2/2]

◆ operator--() [1/2]

◆ operator--() [2/2]

◆ Pi()

◆ Substitute() [1/4]

◆ Substitute() [2/4]

◆ Substitute() [3/4]

◆ Substitute() [4/4]

◆ to_string()

◆ Zero()

Friends And Related Function Documentation

◆ if_then_else

◆ is_abs

◆ is_acos

◆ is_addition

◆ is_asin

◆ is_atan

◆ is_atan2

◆ is_constant

◆ is_cos

◆ is_cosh

◆ is_division

◆ is_exp

◆ is_if_then_else

◆ is_log

◆ is_max

◆ is_min

◆ is_multiplication

◆ is_pow

◆ is_real_constant

◆ is_sin

◆ is_sinh

◆ is_sqrt

◆ is_tan

◆ is_tanh

◆ is_uninterpreted_function

◆ is_variable

◆ operator+

◆ operator-

◆ real_constant

◆ to_abs

◆ to_acos

◆ to_addition [1/2]

◆ to_addition [2/2]

◆ to_asin

◆ to_atan

◆ to_atan2

◆ to_binary

◆ to_constant

◆ to_cos

◆ to_cosh

◆ to_division

◆ to_exp

◆ to_if_then_else

◆ to_log

◆ to_max