<commit_before>#pragma once

#include <algorithm>
#include <initializer_list>
#include <list>
#include <map>
#include <memory>
#include <Eigen/Core>

#include "drake/common/drake_assert.h"
#include "drake/core/Function.h"
#include "drake/core/Gradient.h"
#include "drake/core/Vector.h"
#include "drake/drakeOptimization_export.h"
#include "drake/solvers/Constraint.h"
#include "drake/solvers/MathematicalProgram.h"
#include "drake/solvers/solution_result.h"
#include "drake/util/Polynomial.h"

namespace drake {
namespace solvers {

/**
 * DecisionVariable
 * @brief Provides storage for a decision variable inside an
 * OptimizationProblem.
 */
class DecisionVariable {
 public:
  enum class VarType { CONTINUOUS, INTEGER, BINARY };

  DecisionVariable(VarType type, const std::string& name, size_t num_vars,
                   size_t start_index)
      : type_(type),
        name_(name),
        data_(Eigen::VectorXd::Zero(num_vars)),
        start_index_(start_index) {}

  /** index()
   * @brief returns the first index of this variable in the entire variable
   * vector for the program
   */
  size_t index() const { return start_index_; }
  /** size()
   * @brief returns the number of elements in the decision variable vector
   */
  size_t size() const { return data_.size(); }
  /** name()
   * @return the name of the DecisionVariable
   */
  const std::string& name() const { return name_; }
  /** value()
   * @brief returns the actual stored value; which is only meaningful after
   * calling solve() in the program.
   */
  const Eigen::VectorXd& value() const { return data_; }
  void set_value(const Eigen::VectorXd& new_data) { data_ = new_data; }

 private:
  VarType type_;
  std::string name_;
  Eigen::VectorXd data_;
  size_t start_index_;
};

class DecisionVariableView {  // enables users to access pieces of the decision
                              // variables like they would any other eigen
                              // vector
 public:
  /// Create a view which covers an entire DecisionVariable.
  ///
  /// @p var is aliased, and must remain valid for the lifetime of the view.
  explicit DecisionVariableView(const DecisionVariable& var)
      : var_(var), start_index_(0), size_(var_.value().rows()) {}

  /// Create a view covering part of a DecisionVariable.
  ///
  /// @p var is aliased, and must remain valid for the lifetime of the view.
  DecisionVariableView(const DecisionVariable& var, size_t start, size_t n)
      : var_(var), start_index_(start), size_(n) {
    DRAKE_ASSERT((start + n) < static_cast<size_t>(var.value().rows()));<commit_msg>Assert fix in DecisionVariableView Less than -> less than or equal<commit_after>#pragma once

#include <algorithm>
#include <initializer_list>
#include <list>
#include <map>
#include <memory>
#include <Eigen/Core>

#include "drake/common/drake_assert.h"
#include "drake/core/Function.h"
#include "drake/core/Gradient.h"
#include "drake/core/Vector.h"
#include "drake/drakeOptimization_export.h"
#include "drake/solvers/Constraint.h"
#include "drake/solvers/MathematicalProgram.h"
#include "drake/solvers/solution_result.h"
#include "drake/util/Polynomial.h"

namespace drake {
namespace solvers {

/**
 * DecisionVariable
 * @brief Provides storage for a decision variable inside an
 * OptimizationProblem.
 */
class DecisionVariable {
 public:
  enum class VarType { CONTINUOUS, INTEGER, BINARY };

  DecisionVariable(VarType type, const std::string& name, size_t num_vars,
                   size_t start_index)
      : type_(type),
        name_(name),
        data_(Eigen::VectorXd::Zero(num_vars)),
        start_index_(start_index) {}

  /** index()
   * @brief returns the first index of this variable in the entire variable
   * vector for the program
   */
  size_t index() const { return start_index_; }
  /** size()
   * @brief returns the number of elements in the decision variable vector
   */
  size_t size() const { return data_.size(); }
  /** name()
   * @return the name of the DecisionVariable
   */
  const std::string& name() const { return name_; }
  /** value()
   * @brief returns the actual stored value; which is only meaningful after
   * calling solve() in the program.
   */
  const Eigen::VectorXd& value() const { return data_; }
  void set_value(const Eigen::VectorXd& new_data) { data_ = new_data; }

 private:
  VarType type_;
  std::string name_;
  Eigen::VectorXd data_;
  size_t start_index_;
};

class DecisionVariableView {  // enables users to access pieces of the decision
                              // variables like they would any other eigen
                              // vector
 public:
  /// Create a view which covers an entire DecisionVariable.
  ///
  /// @p var is aliased, and must remain valid for the lifetime of the view.
  explicit DecisionVariableView(const DecisionVariable& var)
      : var_(var), start_index_(0), size_(var_.value().rows()) {}

  /// Create a view covering part of a DecisionVariable.
  ///
  /// @p var is aliased, and must remain valid for the lifetime of the view.
  DecisionVariableView(const DecisionVariable& var, size_t start, size_t n)
      : var_(var), start_index_(start), size_(n) {
    DRAKE_ASSERT((start + n) <= static_cast<size_t>(var.value().rows()));
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