Add python binding for generic_costs and generic_constraints. (RobotL…

…ocomotion#13005)
qingfengpu001 · Apr 6, 2020 · 0bfd3ea · 0bfd3ea
1 parent 92a2bea
commit 0bfd3ea
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diff --git a/bindings/pydrake/solvers/mathematicalprogram_py.cc b/bindings/pydrake/solvers/mathematicalprogram_py.cc
@@ -733,6 +733,8 @@ top-level documentation for :py:mod:`pydrake.math`.
               const Eigen::Ref<const VectorXDecisionVariable>&)>(
               &MathematicalProgram::AddVisualizationCallback),
           doc.MathematicalProgram.AddVisualizationCallback.doc)
+      .def("generic_constraints", &MathematicalProgram::generic_constraints,
+          doc.MathematicalProgram.generic_constraints.doc)
       .def("linear_constraints", &MathematicalProgram::linear_constraints,
           doc.MathematicalProgram.linear_constraints.doc)
       .def("linear_equality_constraints",
@@ -741,6 +743,8 @@ top-level documentation for :py:mod:`pydrake.math`.
       .def("bounding_box_constraints",
           &MathematicalProgram::bounding_box_constraints,
           doc.MathematicalProgram.bounding_box_constraints.doc)
+      .def("generic_costs", &MathematicalProgram::generic_costs,
+          doc.MathematicalProgram.generic_costs.doc)
       .def("linear_costs", &MathematicalProgram::linear_costs,
           doc.MathematicalProgram.linear_costs.doc)
       .def("quadratic_costs", &MathematicalProgram::quadratic_costs,

diff --git a/bindings/pydrake/solvers/test/mathematicalprogram_test.py b/bindings/pydrake/solvers/test/mathematicalprogram_test.py
@@ -584,6 +584,13 @@ def constraint(x):
         # Verify that they can be evaluated.
         self.assertAlmostEqual(cost_binding.evaluator().Eval(xstar), 0.)
         self.assertAlmostEqual(constraint_binding.evaluator().Eval(xstar), 1.)
+        self.assertEqual(len(prog.generic_constraints()), 1)
+        self.assertEqual(
+            prog.generic_constraints()[0].evaluator(),
+            constraint_binding.evaluator())
+        self.assertEqual(len(prog.generic_costs()), 1)
+        self.assertEqual(
+            prog.generic_costs()[0].evaluator(), cost_binding.evaluator())
 
     def test_addcost_symbolic(self):
         prog = mp.MathematicalProgram()