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

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

Inheritance diagram for roboptim::GenericNumericLinearFunction< 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

A	A matrix
b	b vector
name	function's name

References ROBOPTIM_ASSERT_MSG.

template<typename T >

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

Build a linear function from another one.

template<typename T >

roboptim::GenericNumericLinearFunction< T >::~GenericNumericLinearFunction ( )

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

result	result will be stored in this vector
argument	point 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

gradient	gradient will be stored in this vector
argument	point where the gradient will be computed
functionId	evaluated 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

gradient	gradient will be stored in this vector
argument	point where the gradient will be computed
functionId	evaluated 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

jacobian	jacobian will be store in this argument
arg	point 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

o	output 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 > )

Public Member Functions

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

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