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roboptim::GenericNumericLinearFunction< T > Class Template Reference

Build a linear function from a vector and a matrix. More...

#include <roboptim/core/numeric-linear-function.hh>

Inheritance diagram for roboptim::GenericNumericLinearFunction< T >:
roboptim::GenericLinearFunction< T > roboptim::GenericQuadraticFunction< T > roboptim::GenericTwiceDifferentiableFunction< T > roboptim::GenericDifferentiableFunction< T > roboptim::GenericFunction< T >

Public Member Functions

 ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericLinearFunction< T >)
 
 ROBOPTIM_ADD_FLAG (ROBOPTIM_IS_NUMERIC_LINEAR)
 
 GenericNumericLinearFunction (const_matrix_ref A, const_vector_ref b, std::string name=std::string())
 Build a linear function from a matrix and a vector. More...
 
 GenericNumericLinearFunction (const GenericLinearFunction< T > &)
 Build a linear function from another one. More...
 
 ~GenericNumericLinearFunction ()
 
virtual std::ostream & print (std::ostream &) const
 Display the function on the specified output stream. More...
 
const matrix_t & A () const
 
const vector_t & b () const
 
matrix_t & A ()
 
vector_t & b ()
 
void impl_compute (result_ref, const_argument_ref) const
 Function evaluation. More...
 
void impl_gradient (gradient_ref, const_argument_ref, size_type=0) const
 Gradient evaluation. More...
 
void impl_jacobian (jacobian_ref, const_argument_ref) const
 Jacobian evaluation. More...
 
template<>
void impl_gradient (gradient_ref gradient, const_argument_ref, size_type idFunction) const
 Gradient evaluation. More...
 
- Public Member Functions inherited from roboptim::GenericLinearFunction< T >
 ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericQuadraticFunction< T >)
 
 ROBOPTIM_ADD_FLAG (ROBOPTIM_IS_LINEAR)
 
 GenericLinearFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
 Concrete class constructor should call this constructor. More...
 
- Public Member Functions inherited from roboptim::GenericQuadraticFunction< T >
 ROBOPTIM_ADD_FLAG (ROBOPTIM_IS_QUADRATIC)
 
 GenericQuadraticFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
 Concrete class constructor should call this constructor. More...
 
- Public Member Functions inherited from roboptim::GenericTwiceDifferentiableFunction< T >
 ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericDifferentiableFunction< T >)
 
 ROBOPTIM_ADD_FLAG (ROBOPTIM_IS_TWICE_DIFFERENTIABLE)
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (hessian)
 Hessian type. More...
 
hessianSize_t hessianSize () const
 Return the size of a hessian. More...
 
bool isValidHessian (const_hessian_ref hessian) const
 Check if the hessian is valid (check sizes). More...
 
hessian_t hessian (const_argument_ref argument, size_type functionId=0) const
 Compute the hessian at a given point. More...
 
void hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const
 Compute the hessian at a given point. More...
 
- Public Member Functions inherited from roboptim::GenericDifferentiableFunction< T >
 ROBOPTIM_FUNCTION_FWD_TYPEDEFS_ (GenericFunction< T >)
 
 ROBOPTIM_ADD_FLAG (ROBOPTIM_IS_DIFFERENTIABLE)
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (gradient)
 Gradient type. More...
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (jacobian)
 Jacobian type. More...
 
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
 Check if the jacobian is valid (check sizes). More...
 
jacobian_t jacobian (const_argument_ref argument) const
 Computes the jacobian. More...
 
void jacobian (jacobian_ref jacobian, const_argument_ref argument) const
 Computes the jacobian. More...
 
gradient_t gradient (const_argument_ref argument, size_type functionId=0) const
 Computes the gradient. More...
 
void gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0) const
 Computes the gradient. More...
 
- Public Member Functions inherited from roboptim::GenericFunction< T >
 ROBOPTIM_DEFINE_FLAG_TYPE ()
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (vector)
 Basic (column) vector type. More...
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (rowVector)
 Row vector type. More...
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (matrix)
 Basic matrix type. More...
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (result)
 Type of a function evaluation result. More...
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (argument)
 Type of a function evaluation argument. More...
 
bool isValidResult (const_result_ref result) const
 Check the given result size is valid. More...
 
GenericFunction< T >::size_type inputSize () const
 Return the input size (i.e. More...
 
GenericFunction< T >::size_type outputSize () const
 Return the output size (i.e. More...
 
virtual ~GenericFunction ()
 Trivial destructor. More...
 
result_t operator() (const_argument_ref argument) const
 Evaluate the function at a specified point. More...
 
void operator() (result_ref result, const_argument_ref argument) const
 Evaluate the function at a specified point. More...
 
const std::string & getName () const
 Get function name. More...
 
virtual flag_t getFlags () const
 Get the type-checking flag. More...
 
template<typename F >
void foreach (const discreteInterval_t interval, F functor)
 
template<typename F >
void foreach (const interval_t interval, const size_type n, F functor)
 
template<class ExpectedType >
ExpectedType * castInto (bool check=false)
 Cast function to ExpectedType. More...
 
template<class ExpectedType >
const ExpectedType * castInto (bool check=false) const
 Cast function to ExpectedType (const). More...
 
template<class ExpectedType >
bool asType () const
 Fonction type checking. More...
 

Additional Inherited Members

- Public Types inherited from roboptim::GenericQuadraticFunction< T >
typedef
GenericTwiceDifferentiableFunction
< T > 
parent_t
 
typedef parent_t::size_type size_type
 
- Static Public Member Functions inherited from roboptim::GenericFunction< T >
static value_type epsilon ()
 Get the value of the machine epsilon, useful for floating types comparison. More...
 
static value_type infinity ()
 Get the value that symbolizes positive infinity. More...
 
static interval_t makeInterval (value_type l, value_type u)
 Construct an interval from a lower and upper bound. More...
 
static interval_t makeInfiniteInterval ()
 Construct an infinite interval. More...
 
static interval_t makeLowerInterval (value_type l)
 Construct an interval from a lower bound. More...
 
static interval_t makeUpperInterval (value_type u)
 Construct an interval from an upper bound. More...
 
static value_type getLowerBound (const interval_t &interval)
 Get the lower bound of an interval. More...
 
static value_type getUpperBound (const interval_t &interval)
 Get the upper bound of an interval. More...
 
static discreteInterval_t makeDiscreteInterval (value_type min, value_type max, value_type step)
 Construct a discrete interval. More...
 
static discreteInterval_t makeDiscreteInterval (interval_t interval, value_type step)
 Construct a discrete interval. More...
 
static value_type getLowerBound (const discreteInterval_t &interval)
 Get the lower bound of a discrete interval. More...
 
static value_type getUpperBound (const discreteInterval_t &interval)
 Get the upper bound of a discrete interval. More...
 
static value_type getStep (const discreteInterval_t &interval)
 Get the upper step of a discrete interval. More...
 
template<typename F >
static void foreach (const discreteInterval_t interval, F functor)
 Iterate on an interval. More...
 
template<typename F >
static void foreach (const interval_t interval, const size_type n, F functor)
 Iterate on an interval. More...
 
- Static Public Attributes inherited from roboptim::GenericFunction< T >
static const flag_t flags = ROBOPTIM_IS_FUNCTION
 Flag representing the Roboptim Function type. More...
 
- Protected Member Functions inherited from roboptim::GenericLinearFunction< T >
void impl_hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const
 Hessian evaluation. More...
 

Detailed Description

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

Build a linear function from a vector and a matrix.

Implement a linear function using the general formula:

\[f(x) = A x + b\]

where \(A\) and \(b\) are set when the class is instantiated.

Examples:
numeric-linear-function.cc.

Constructor & Destructor Documentation

template<typename T >
roboptim::GenericNumericLinearFunction< T >::GenericNumericLinearFunction ( const_matrix_ref  A,
const_vector_ref  b,
std::string  name = std::string () 
)

Build a linear function from a matrix and a vector.

See class documentation for A and b definition.

Parameters
AA matrix
bb vector
namefunction's name

References ROBOPTIM_ASSERT_MSG.

template<typename T >
roboptim::GenericNumericLinearFunction< T >::GenericNumericLinearFunction ( const GenericLinearFunction< T > &  function)

Build a linear function from another one.

Member Function Documentation

template<typename T>
const matrix_t& roboptim::GenericNumericLinearFunction< T >::A ( ) const
inline
template<typename T>
matrix_t& roboptim::GenericNumericLinearFunction< T >::A ( )
inline
template<typename T>
const vector_t& roboptim::GenericNumericLinearFunction< T >::b ( ) const
inline
template<typename T>
vector_t& roboptim::GenericNumericLinearFunction< T >::b ( )
inline
template<typename T >
void roboptim::GenericNumericLinearFunction< T >::impl_compute ( result_ref  result,
const_argument_ref  argument 
) const
virtual

Function evaluation.

Evaluate the function, has to be implemented in concrete classes.

Warning
Do not call this function directly, call operator()(result_ref, const_argument_ref) const instead.
Parameters
resultresult will be stored in this vector
argumentpoint at which the function will be evaluated

Implements roboptim::GenericFunction< T >.

template<typename T >
void roboptim::GenericNumericLinearFunction< T >::impl_gradient ( gradient_ref  gradient,
const_argument_ref  argument,
size_type  functionId = 0 
) const
virtual

Gradient evaluation.

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

Warning
Do not call this function directly, call gradient instead.
Parameters
gradientgradient will be stored in this vector
argumentpoint where the gradient will be computed
functionIdevaluated function id in the split representation

Implements roboptim::GenericDifferentiableFunction< T >.

template<>
void roboptim::GenericNumericLinearFunction< EigenMatrixSparse >::impl_gradient ( gradient_ref  gradient,
const_argument_ref  argument,
size_type  functionId 
) const
inlinevirtual

Gradient evaluation.

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

Warning
Do not call this function directly, call gradient instead.
Parameters
gradientgradient will be stored in this vector
argumentpoint where the gradient will be computed
functionIdevaluated function id in the split representation

Implements roboptim::GenericDifferentiableFunction< T >.

template<typename T >
void roboptim::GenericNumericLinearFunction< T >::impl_jacobian ( jacobian_ref  jacobian,
const_argument_ref  arg 
) const
virtual

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
jacobianjacobian will be store in this argument
argpoint where the jacobian will be computed

Reimplemented from roboptim::GenericDifferentiableFunction< T >.

template<typename T >
std::ostream & roboptim::GenericNumericLinearFunction< T >::print ( std::ostream &  o) const
virtual

Display the function on the specified output stream.

Parameters
ooutput stream used for display
Returns
output stream

Reimplemented from roboptim::GenericLinearFunction< T >.

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

template<typename T>
roboptim::GenericNumericLinearFunction< T >::ROBOPTIM_ADD_FLAG ( ROBOPTIM_IS_NUMERIC_LINEAR  )
template<typename T>
roboptim::GenericNumericLinearFunction< T >::ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ ( GenericLinearFunction< T >  )