[pybind] split solvers_py_mathematicalprogram. (RobotLocomotion#19791)

Put the Evaluator/Cost/Constraint/Binding into solvers_py_evaluator.cc
RussTedrake · Jul 18, 2023 · 3a571a4 · 3a571a4
1 parent 0cb0137
commit 3a571a4
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Showing 7 changed files with 843 additions and 770 deletions.
diff --git a/bindings/pydrake/solvers/BUILD.bazel b/bindings/pydrake/solvers/BUILD.bazel
@@ -57,6 +57,7 @@ drake_pybind_library(
         "solvers_py_branch_and_bound.cc",
         "solvers_py_clp.cc",
         "solvers_py_csdp.cc",
+        "solvers_py_evaluators.cc",
         "solvers_py_gurobi.cc",
         "solvers_py_ipopt.cc",
         "solvers_py_mathematicalprogram.cc",
@@ -233,6 +234,14 @@ drake_py_unittest(
     ],
 )
 
+drake_py_unittest(
+    name = "evaluators_test",
+    deps = [
+        ":solvers",
+        "//bindings/pydrake/common/test_utilities:scipy_stub_py",
+    ],
+)
+
 drake_py_unittest(
     name = "branch_and_bound_test",
     deps = [

diff --git a/bindings/pydrake/solvers/solvers_py.cc b/bindings/pydrake/solvers/solvers_py.cc
@@ -18,6 +18,7 @@ top-level documentation for :py:mod:`pydrake.math`.
   py::module::import("pydrake.symbolic");
 
   // The order of these calls matters. Some modules rely on prior definitions.
+  internal::DefineSolversEvaluators(m);
   internal::DefineSolversMathematicalProgram(m);
   internal::DefineSolversAugmentedLagrangian(m);
   internal::DefineSolversBranchAndBound(m);

diff --git a/bindings/pydrake/solvers/solvers_py.h b/bindings/pydrake/solvers/solvers_py.h
@@ -24,6 +24,9 @@ void DefineSolversClp(py::module m);
 /* Defines the CSDP bindings. See solvers_py_csdp.cc. */
 void DefineSolversCsdp(py::module m);
 
+/* Defines the evaluators. See solvers_py_evaluator.cc. */
+void DefineSolversEvaluators(py::module m);
+
 /* Defines the GUROBI bindings. See solvers_py_gurobi.cc. */
 void DefineSolversGurobi(py::module m);