Parametrized function with parameter derivative available. More...

#include <roboptim/core/derivable-parametrized-function.hh>

Inheritance diagram for roboptim::DerivableParametrizedFunction< F >:

Public Types
typedef F::value_type	value_type
	Import value type. More...

typedef F::size_type	size_type
	Import size type. More...

typedef F::vector_t	vector_t
	Import vector type. More...

typedef F::matrix_t	matrix_t
	Import matrix type. More...

typedef F	result_t
	Import result type. More...

typedef F::argument_t	argument_t
	Import argument types. More...

typedef F::const_argument_ref	const_argument_ref

typedef F::gradient_t	gradient_t
	Import gradient type. More...

typedef F::gradient_ref	gradient_ref

typedef F::gradient_ref	const_gradient_ref

typedef F::jacobian_t	jacobian_t
	Import jacobian type. More...

typedef F::jacobian_ref	jacobian_ref

typedef F::const_jacobian_ref	const_jacobian_ref

typedef F::jacobianSize_t	jacobianSize_t
	Import jacobian size type (pair of values). More...

Public Types inherited from roboptim::ParametrizedFunction< F >
typedef F::value_type	value_type
	Import value type. More...

typedef F::size_type	size_type
	Import size type. More...

typedef F::vector_t	vector_t
	Import vector type. More...

typedef F::matrix_t	matrix_t
	Import matrix type. More...

typedef F	result_t
	Import result type. More...

typedef F::argument_t	argument_t
	Import argument types. More...

typedef F::const_argument_ref	const_argument_ref

Public Member Functions
size_type	gradientSize () const
	Return the gradient size. More...

jacobianSize_t	jacobianSize () const
	Return the jacobian size as a pair. More...

bool	isValidGradient (const_gradient_ref gradient) const
	Check if the gradient is valid (check size). More...

bool	isValidJacobian (const_jacobian_ref jacobian) const throw ()
	Check if the jacobian is valid (check sizes). More...

jacobian_t	jacobian (const_argument_ref argument, size_type order=0) const
	Computes the jacobian. More...

void	jacobian (jacobian_ref jacobian, const_argument_ref argument, size_type order=0) const
	Computes the jacobian. More...

gradient_t	gradient (const_argument_ref argument, size_type functionId=0, size_type order=0) const
	Computes the gradient. More...

void	gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0, size_type order=0) const
	Computes the gradient. More...

virtual std::ostream &	print (std::ostream &o) const
	Display the function on the specified output stream. More...

Public Member Functions inherited from roboptim::ParametrizedFunction< F >
result_t	operator() (const_argument_ref argument) const
	Evaluate the function at a specified point. More...

size_type	inputSize () const
	Return the input size (i.e. More...

size_type	functionInputSize () const
	Return the function's input size (i.e. More...

size_type	functionOutputSize () const
	Return the function's output size (i.e. More...

Protected Member Functions
	DerivableParametrizedFunction (size_type inputSize, size_type functionInputSize, size_type functionOutputSize)
	Concrete class constructor should call this constructor. More...

virtual void	impl_jacobian (jacobian_ref jacobian, const_argument_ref arg, size_type order=0) const
	Jacobian evaluation. More...

virtual void	impl_gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0, size_type order=0) const =0
	Gradient evaluation. More...

Protected Member Functions inherited from roboptim::ParametrizedFunction< F >
	ParametrizedFunction (size_type inputSize, size_type functionInputSize, size_type functionOutputSize)
	Concrete class constructor should call this constructor. More...

virtual	~ParametrizedFunction ()

virtual result_t	impl_compute (const_argument_ref argument) const =0
	Function evaluation. More...

Detailed Description

template<typename F>
class roboptim::DerivableParametrizedFunction< F >

Parametrized function with parameter derivative available.

Depending on inner function type, this class allows computation of parameter derivative or combined parameter/function derivative.

Template Parameters

F	inner function type.

Member Typedef Documentation

template<typename F >

typedef F::argument_t roboptim::DerivableParametrizedFunction< F >::argument_t

Import argument types.

template<typename F >

typedef F::const_argument_ref roboptim::DerivableParametrizedFunction< F >::const_argument_ref

template<typename F >

typedef F::gradient_ref roboptim::DerivableParametrizedFunction< F >::const_gradient_ref

template<typename F >

typedef F::const_jacobian_ref roboptim::DerivableParametrizedFunction< F >::const_jacobian_ref

template<typename F >

typedef F::gradient_ref roboptim::DerivableParametrizedFunction< F >::gradient_ref

template<typename F >

typedef F::gradient_t roboptim::DerivableParametrizedFunction< F >::gradient_t

Import gradient type.

template<typename F >

typedef F::jacobian_ref roboptim::DerivableParametrizedFunction< F >::jacobian_ref

template<typename F >

typedef F::jacobian_t roboptim::DerivableParametrizedFunction< F >::jacobian_t

Import jacobian type.

template<typename F >

typedef F::jacobianSize_t roboptim::DerivableParametrizedFunction< F >::jacobianSize_t

Import jacobian size type (pair of values).

template<typename F >

typedef F::matrix_t roboptim::DerivableParametrizedFunction< F >::matrix_t

Import matrix type.

template<typename F >

typedef F roboptim::DerivableParametrizedFunction< F >::result_t

Import result type.

template<typename F >

typedef F::size_type roboptim::DerivableParametrizedFunction< F >::size_type

Import size type.

template<typename F >

typedef F::value_type roboptim::DerivableParametrizedFunction< F >::value_type

Import value type.

template<typename F >

typedef F::vector_t roboptim::DerivableParametrizedFunction< F >::vector_t

Import vector type.

Constructor & Destructor Documentation

template<typename F >

roboptim::DerivableParametrizedFunction< F >::DerivableParametrizedFunction	(	size_type	inputSize,
		size_type	functionInputSize,
		size_type	functionOutputSize
	)

inlineprotected

Concrete class constructor should call this constructor.

Parameters

inputSize	parameter size
functionInputSize	inner function argument size
functionOutputSize	inner function result size

Member Function Documentation

template<typename F >

gradient_t roboptim::DerivableParametrizedFunction< F >::gradient	(	const_argument_ref	argument,
		size_type	functionId = `0`,
		size_type	order = `0`
	)		const

inline

Computes the gradient.

Parameters

argument	inner function argument value
functionId	function id in split representation
order	derivation order

Returns: gradient vector

References roboptim::DerivableParametrizedFunction< F >::gradientSize().

Referenced by roboptim::DerivableParametrizedFunction< F >::impl_jacobian().

template<typename F >

void roboptim::DerivableParametrizedFunction< F >::gradient	(	gradient_ref	gradient,
		const_argument_ref	argument,
		size_type	functionId = `0`,
		size_type	order = `0`
	)		const

inline

Computes the gradient.

Program will abort if the gradient size is wrong before or after the gradient computation.

Parameters

gradient	gradient will be stored in this argument
argument	inner function point argument value
functionId	function id in split representation
order	derivation order

Returns: gradient vector

References roboptim::DerivableParametrizedFunction< F >::impl_gradient(), roboptim::ParametrizedFunction< F >::inputSize(), and roboptim::DerivableParametrizedFunction< F >::isValidGradient().

template<typename F >

size_type roboptim::DerivableParametrizedFunction< F >::gradientSize ( ) const

inline

Return the gradient size.

Gradient size is equals to the input size.

References roboptim::ParametrizedFunction< F >::inputSize().

Referenced by roboptim::DerivableParametrizedFunction< F >::gradient(), and roboptim::DerivableParametrizedFunction< F >::isValidGradient().

template<typename F >

virtual void roboptim::DerivableParametrizedFunction< F >::impl_gradient	(	gradient_ref	gradient,
		const_argument_ref	argument,
		size_type	functionId = `0`,
		size_type	order = `0`
	)		const

protectedpure virtual

Gradient evaluation.

Compute the gradient, has to be implemented in concrete classes. The gradient is computed for a specific sub-function which id is passed through the functionId argument.

Warning: Do not call this function directly, call gradient instead.

Parameters

gradient	gradient will be store in this argument
argument	inner function point argument value
functionId	evaluated function id in the split representation
order	derivation order

Referenced by roboptim::DerivableParametrizedFunction< F >::gradient().

template<typename F >

virtual void roboptim::DerivableParametrizedFunction< F >::impl_jacobian	(	jacobian_ref	jacobian,
		const_argument_ref	arg,
		size_type	order = `0`
	)		const

inlineprotectedvirtual

Jacobian evaluation.

Computes the jacobian, can be overridden by concrete classes. The default behavior is to compute the jacobian from the gradient.

Warning: Do not call this function directly, call jacobian instead.

Parameters

jacobian	jacobian will be store in this argument
arg	point where the jacobian will be computed
order	derivation order

References roboptim::ParametrizedFunction< F >::functionOutputSize(), roboptim::DerivableParametrizedFunction< F >::gradient(), and roboptim::ParametrizedFunction< F >::inputSize().

Referenced by roboptim::DerivableParametrizedFunction< F >::jacobian().

template<typename F >

bool roboptim::DerivableParametrizedFunction< F >::isValidGradient ( const_gradient_ref gradient ) const

inline

Check if the gradient is valid (check size).

Parameters

gradient checked gradient

Returns: true if valid, false if not

References roboptim::DerivableParametrizedFunction< F >::gradientSize().

Referenced by roboptim::DerivableParametrizedFunction< F >::gradient().

template<typename F >

bool roboptim::DerivableParametrizedFunction< F >::isValidJacobian ( const_jacobian_ref jacobian ) const throw ()

inline

Check if the jacobian is valid (check sizes).

Parameters

jacobian checked jacobian

Returns: true if valid, false if not

References roboptim::DerivableParametrizedFunction< F >::jacobian(), and roboptim::DerivableParametrizedFunction< F >::jacobianSize().

Referenced by roboptim::DerivableParametrizedFunction< F >::jacobian().

template<typename F >

jacobian_t roboptim::DerivableParametrizedFunction< F >::jacobian	(	const_argument_ref	argument,
		size_type	order = `0`
	)		const

inline

Computes the jacobian.

Parameters

argument	point at which the jacobian will be computed
order	derivation order

Returns: jacobian matrix

References roboptim::DerivableParametrizedFunction< F >::jacobianSize().

Referenced by roboptim::DerivableParametrizedFunction< F >::isValidJacobian().

template<typename F >

void roboptim::DerivableParametrizedFunction< F >::jacobian	(	jacobian_ref	jacobian,
		const_argument_ref	argument,
		size_type	order = `0`
	)		const

inline

Computes the jacobian.

Program will abort if the jacobian size is wrong before or after the jacobian computation.

Parameters

jacobian	jacobian will be stored in this argument
order	derivation order
argument	inner function point argument value

References roboptim::DerivableParametrizedFunction< F >::impl_jacobian(), roboptim::ParametrizedFunction< F >::inputSize(), and roboptim::DerivableParametrizedFunction< F >::isValidJacobian().

template<typename F >

jacobianSize_t roboptim::DerivableParametrizedFunction< F >::jacobianSize ( ) const

inline

Return the jacobian size as a pair.

Gradient size is equals to (output size, input size).

References roboptim::ParametrizedFunction< F >::functionOutputSize(), and roboptim::ParametrizedFunction< F >::inputSize().

Referenced by roboptim::DerivableParametrizedFunction< F >::isValidJacobian(), and roboptim::DerivableParametrizedFunction< F >::jacobian().

template<typename F >

virtual std::ostream& roboptim::DerivableParametrizedFunction< F >::print ( std::ostream & o ) const

inlinevirtual

Display the function on the specified output stream.

Parameters

o	output stream used for display

Returns: output stream

Reimplemented from roboptim::ParametrizedFunction< F >.

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename F> class roboptim::DerivableParametrizedFunction< F >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename F>
class roboptim::DerivableParametrizedFunction< F >