roboptim::CachedFunction< T > Class Template Reference

Store previous function computation. More...

#include <roboptim/core/decorator/cached-function.hh>

Inheritance diagram for roboptim::CachedFunction< T >:

Public Types
typedef T::traits_t	traits_t
	Import traits type. More...
typedef GenericDifferentiableFunction < traits_t >::interval_t	interval_t
	Import interval type. More...
typedef argument_t	cacheKey_t
	Key type for the cache. More...
typedef LRUCache< cacheKey_t, vector_t, Hasher >	functionCache_t
typedef LRUCache< cacheKey_t, gradient_t, Hasher >	gradientCache_t
typedef LRUCache< cacheKey_t, jacobian_t, Hasher >	jacobianCache_t
typedef LRUCache< cacheKey_t, hessian_t, Hasher >	hessianCache_t

Public Member Functions
	ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericTwiceDifferentiableFunction< traits_t >)
	CachedFunction (boost::shared_ptr< T > fct, size_t size=10)
	Cache a RobOptim function. More...
	~CachedFunction ()
void	reset ()
	Reset the caches. More...
virtual std::ostream &	print (std::ostream &o) const
	Display the cached function on the specified output stream. More...
const boost::shared_ptr< const T >	function () const
	Get the inner cached function. More...

Protected Member Functions
template<typename U >
void	cachedFunctionGradient (gradient_ref gradient, const_argument_ref argument, size_type functionId, typename detail::CachedFunctionTypes< U >::isDifferentiable_t::type *=0) const
template<typename U >
void	cachedFunctionGradient (gradient_ref, const_argument_ref, size_type, typename detail::CachedFunctionTypes< U >::isNotDifferentiable_t::type *=0) const
template<typename U >
void	cachedFunctionJacobian (jacobian_ref jacobian, const_argument_ref argument, typename detail::CachedFunctionTypes< U >::isDifferentiable_t::type *=0) const
template<typename U >
void	cachedFunctionJacobian (jacobian_ref, const_argument_ref, typename detail::CachedFunctionTypes< U >::isNotDifferentiable_t::type *=0) const
template<typename U >
void	cachedFunctionHessian (hessian_ref hessian, const_argument_ref argument, size_type functionId, typename detail::CachedFunctionTypes< U >::isTwiceDifferentiable_t::type *=0) const
template<typename U >
void	cachedFunctionHessian (hessian_ref, const_argument_ref, size_type, typename detail::CachedFunctionTypes< U >::isNotTwiceDifferentiable_t::type *=0) const
template<typename U >
void	cachedFunctionDerivative (gradient_ref derivative, value_type argument, size_type order, typename detail::CachedFunctionTypes< U >::isNTimesDerivable_t::type *) const
template<typename U >
void	cachedFunctionDerivative (gradient_ref, value_type, size_type, typename detail::CachedFunctionTypes< U >::isNotNTimesDerivable_t::type *=0) const
virtual void	impl_compute (result_ref result, const_argument_ref argument) const
virtual void	impl_gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0) const
virtual void	impl_jacobian (jacobian_ref jacobian, const_argument_ref arg) const
virtual void	impl_hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const
virtual void	impl_derivative (gradient_ref derivative, value_type argument, size_type order=1) const

Protected Attributes
boost::shared_ptr< T >	function_
std::vector< functionCache_t >	cache_
std::vector< gradientCache_t >	gradientCache_
jacobianCache_t	jacobianCache_
std::vector< hessianCache_t >	hessianCache_

Detailed Description

template<typename T>
class roboptim::CachedFunction< T >

Store previous function computation.

When an expensive function is called several times at the same point (exactly!), the cached function prevents useless computation by caching the function result.

This decorator is experimental in this release.

Template Parameters

T	input function type.

Member Typedef Documentation

template<typename T>

typedef argument_t roboptim::CachedFunction< T >::cacheKey_t

Key type for the cache.

template<typename T>

typedef LRUCache<cacheKey_t, vector_t, Hasher> roboptim::CachedFunction< T >::functionCache_t

template<typename T>

typedef LRUCache<cacheKey_t, gradient_t, Hasher> roboptim::CachedFunction< T >::gradientCache_t

template<typename T>

typedef LRUCache<cacheKey_t, hessian_t, Hasher> roboptim::CachedFunction< T >::hessianCache_t

template<typename T>

typedef GenericDifferentiableFunction<traits_t>:: interval_t roboptim::CachedFunction< T >::interval_t

Import interval type.

template<typename T>

typedef LRUCache<cacheKey_t, jacobian_t, Hasher> roboptim::CachedFunction< T >::jacobianCache_t

template<typename T>

typedef T::traits_t roboptim::CachedFunction< T >::traits_t

Import traits type.

Constructor & Destructor Documentation

template<typename T >

roboptim::CachedFunction< T >::CachedFunction ( boost::shared_ptr< T >  fct, size_t  size = 10  )

explicit

Cache a RobOptim function.

Parameters

fct	function to cache.
size	size of the LRU cache.

template<typename T >

roboptim::CachedFunction< T >::~CachedFunction

(

)

Member Function Documentation

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionDerivative ( gradient_ref  derivative, value_type  argument, size_type  order, typename detail::CachedFunctionTypes< U >::isNTimesDerivable_t::type *    ) const

inlineprotected

References roboptim::CachedFunction< T >::cache_, roboptim::derivative(), and roboptim::CachedFunction< T >::function_.

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionDerivative ( gradient_ref  , value_type  , size_type  , typename detail::CachedFunctionTypes< U >::isNotNTimesDerivable_t::type *  = 0  ) const

inlineprotected

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionGradient ( gradient_ref  gradient, const_argument_ref  argument, size_type  functionId, typename detail::CachedFunctionTypes< U >::isDifferentiable_t::type *  = 0  ) const

inlineprotected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::CachedFunction< T >::function_, roboptim::CachedFunction< T >::gradientCache_, roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionGradient ( gradient_ref  , const_argument_ref  , size_type  , typename detail::CachedFunctionTypes< U >::isNotDifferentiable_t::type *  = 0  ) const

inlineprotected

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionHessian ( hessian_ref  hessian, const_argument_ref  argument, size_type  functionId, typename detail::CachedFunctionTypes< U >::isTwiceDifferentiable_t::type *  = 0  ) const

inlineprotected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::CachedFunction< T >::function_, roboptim::CachedFunction< T >::hessianCache_, roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionHessian ( hessian_ref  , const_argument_ref  , size_type  , typename detail::CachedFunctionTypes< U >::isNotTwiceDifferentiable_t::type *  = 0  ) const

inlineprotected

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionJacobian ( jacobian_ref  jacobian, const_argument_ref  argument, typename detail::CachedFunctionTypes< U >::isDifferentiable_t::type *  = 0  ) const

inlineprotected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::LRUCache< K, V, H >::end(), roboptim::LRUCache< K, V, H >::find(), roboptim::CachedFunction< T >::function_, roboptim::is_malloc_allowed(), roboptim::CachedFunction< T >::jacobianCache_, and roboptim::set_is_malloc_allowed().

template<typename T>

template<typename U >

void roboptim::CachedFunction< T >::cachedFunctionJacobian ( jacobian_ref  , const_argument_ref  , typename detail::CachedFunctionTypes< U >::isNotDifferentiable_t::type *  = 0  ) const

inlineprotected

template<typename T >

const boost::shared_ptr< const T > roboptim::CachedFunction< T >::function

(

)

const

Get the inner cached function.

template<typename T >

void roboptim::CachedFunction< T >::impl_compute ( result_ref  result, const_argument_ref  argument  ) const

protectedvirtual

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::LRUCache< K, V, H >::find(), roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

template<typename T >

void roboptim::CachedFunction< T >::impl_derivative ( gradient_ref  derivative, value_type  argument, size_type  order = 1  ) const

protectedvirtual

References roboptim::derivative().

template<typename T >

void roboptim::CachedFunction< T >::impl_gradient ( gradient_ref  gradient, const_argument_ref  argument, size_type  functionId = 0  ) const

protectedvirtual

template<typename T >

void roboptim::CachedFunction< T >::impl_hessian ( hessian_ref  hessian, const_argument_ref  argument, size_type  functionId = 0  ) const

protectedvirtual

template<typename T >

void roboptim::CachedFunction< T >::impl_jacobian ( jacobian_ref  jacobian, const_argument_ref  arg  ) const

protectedvirtual

template<typename T >

std::ostream & roboptim::CachedFunction< T >::print ( std::ostream &  o ) const

virtual

Display the cached function on the specified output stream.

Parameters

o	output stream used for display

Returns

output stream

References roboptim::decindent(), roboptim::iendl(), and roboptim::incindent().

template<typename T >

void roboptim::CachedFunction< T >::reset

(

)

Reset the caches.

template<typename T>

roboptim::CachedFunction< T >::ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_

(

GenericTwiceDifferentiableFunction< traits_t >

)

Member Data Documentation

template<typename T>

std::vector<functionCache_t> roboptim::CachedFunction< T >::cache_

mutableprotected

Referenced by roboptim::CachedFunction< T >::cachedFunctionDerivative().

template<typename T>

boost::shared_ptr<T> roboptim::CachedFunction< T >::function_

protected

Referenced by roboptim::CachedFunction< T >::cachedFunctionDerivative(), roboptim::CachedFunction< T >::cachedFunctionGradient(), roboptim::CachedFunction< T >::cachedFunctionHessian(), and roboptim::CachedFunction< T >::cachedFunctionJacobian().

template<typename T>

std::vector<gradientCache_t> roboptim::CachedFunction< T >::gradientCache_

mutableprotected

Referenced by roboptim::CachedFunction< T >::cachedFunctionGradient().

template<typename T>

std::vector<hessianCache_t> roboptim::CachedFunction< T >::hessianCache_

mutableprotected

Referenced by roboptim::CachedFunction< T >::cachedFunctionHessian().

template<typename T>

jacobianCache_t roboptim::CachedFunction< T >::jacobianCache_

mutableprotected

Referenced by roboptim::CachedFunction< T >::cachedFunctionJacobian().