CODEWITHSUNDEEP
drake
HoliInn
HoliInn

Reputation: 189

Get number of binary variables / Gurobi output in Drake

How do I get the number of binary variables to my mathematical program?

How do I get a reference to a vector of all the aggregate binary variables?

Also, how do I get the Gurobi std output (this could also tell the number of binary variables)? Example here: How to get how many binary variables used by Gurobi?

Many thanks.

Upvotes: 0

Views: 33

Answers (1)

Russ Tedrake
Russ Tedrake

Reputation: 5533

You'll need to loop through the variables and check which are binary:

from pydrake.solvers import MathematicalProgram
from pydrake.symbolic import Variable

prog = MathematicalProgram()
x = prog.NewContinuousVariables(2)
b = prog.NewBinaryVariables(3)

binaries = [
    x for x in prog.decision_variables() if x.get_type() == Variable.Type.BINARY
]
print(len(binaries))

Upvotes: 3

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