A pool of functions that will be processed together. More...

#include <roboptim/core/function-pool.hh>

Inheritance diagram for roboptim::FunctionPool< F, FLIST >:

Public Types
typedef F	pool_t
	Function type of the pool. More...

typedef detail::list_converter < FLIST >::type	functionTypeList_t

typedef detail::shared_ptr_variant < functionTypeList_t >::type	function_t
	Type of the functions in the pool. More...

typedef std::vector< function_t >	functionList_t
	List of functions that will populate the pool. More...

typedef F	callback_t
	Type of the callback function (where the computation happens). More...

typedef boost::shared_ptr < callback_t >	callback_ptr

Public Member Functions
	ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (pool_t)

	FunctionPool (const callback_ptr callback, const functionList_t &functions, const std::string &name="")
	FunctionPool constructor. More...

virtual	~FunctionPool ()
	Virtual destructor. More...

virtual void	impl_compute (result_ref result, const_argument_ref x) 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 std::ostream &	print (std::ostream &) const
	Overriden print function for pools. More...

Static Public Member Functions
static size_type	listInputSize (const functionList_t &functions)
	Get the input size from the function list. More...

static size_type	listOutputSize (const functionList_t &functions)
	Get the output size from the function list. More...

Detailed Description

template<typename F, typename FLIST>
class roboptim::FunctionPool< F, FLIST >

A pool of functions that will be processed together.

This class provides a way to regroup functions that depend on the same "computation engine", for instance a simulator that generates some data, then each function of the pool can simply read the computed data (which could be done in parallel).

TODO: the actual type of the FunctionPool should depend on the list of constraints that are supported. We could imagine using a metaprogramming version of LCA (lowest common ancestor) to find the Function type that will best match the list. In hybrid scenarios where we have both differentiable and non-differentiable functions, two pools sharing the same callback should probably be used. For now, we will rely on a user-provided function type.

Template Parameters

F	type of the pool.
FLIST	list of valid function types.

Member Typedef Documentation

template<typename F, typename FLIST>

typedef boost::shared_ptr<callback_t> roboptim::FunctionPool< F, FLIST >::callback_ptr

template<typename F, typename FLIST>

typedef F roboptim::FunctionPool< F, FLIST >::callback_t

Type of the callback function (where the computation happens).

template<typename F, typename FLIST>

typedef detail::shared_ptr_variant<functionTypeList_t>::type roboptim::FunctionPool< F, FLIST >::function_t

Type of the functions in the pool.

template<typename F, typename FLIST>

typedef std::vector<function_t> roboptim::FunctionPool< F, FLIST >::functionList_t

List of functions that will populate the pool.

template<typename F, typename FLIST>

typedef detail::list_converter<FLIST>::type roboptim::FunctionPool< F, FLIST >::functionTypeList_t

template<typename F, typename FLIST>

typedef F roboptim::FunctionPool< F, FLIST >::pool_t

Function type of the pool.

Note: this will be set by LCA called on the function type list.

Constructor & Destructor Documentation

template<typename F , typename FLIST >

roboptim::FunctionPool< F, FLIST >::FunctionPool	(	const callback_ptr	callback,
		const functionList_t &	functions,
		const std::string &	name = `""`
	)

explicit

FunctionPool constructor.

Parameters

callback	callback function for the engine.
functions	functions of the pool.
name	name of the pool.

template<typename F , typename FLIST >

roboptim::FunctionPool< F, FLIST >::~FunctionPool ( )

virtual

Virtual destructor.

Member Function Documentation

template<typename F , typename FLIST >

void roboptim::FunctionPool< F, FLIST >::impl_compute	(	result_ref	result,
		const_argument_ref	x
	)		const

virtual

template<typename F , typename FLIST >

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

virtual

template<typename F , typename FLIST >

void roboptim::FunctionPool< F, FLIST >::impl_jacobian	(	jacobian_ref	jacobian,
		const_argument_ref	arg
	)		const

virtual

template<typename F, typename FLIST>

FunctionPool< F, FLIST >::size_type roboptim::FunctionPool< F, FLIST >::listInputSize ( const functionList_t & functions )

static

Get the input size from the function list.

template<typename F, typename FLIST>

FunctionPool< F, FLIST >::size_type roboptim::FunctionPool< F, FLIST >::listOutputSize ( const functionList_t & functions )

static

Get the output size from the function list.

template<typename F , typename FLIST >

std::ostream & roboptim::FunctionPool< F, FLIST >::print ( std::ostream & o ) const

virtual

Overriden print function for pools.

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

template<typename F, typename FLIST>

roboptim::FunctionPool< F, FLIST >::ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ ( pool_t )

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

template<typename F, typename FLIST> class roboptim::FunctionPool< F, FLIST >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename F, typename FLIST>
class roboptim::FunctionPool< F, FLIST >