Generic sum of the squares of differentiable functions. More...

#include <roboptim/core/sum-of-c1-squares.hh>

Inheritance diagram for roboptim::GenericSumOfC1Squares< T >:

Public Member Functions
	GenericSumOfC1Squares (const boost::shared_ptr< parent_t > &function, const std::string &name)
	Constructor by vector valued functions The value of this scalar valued function is the sum of the squares of the coordinates of the vector valued base function. More...

	GenericSumOfC1Squares (const GenericSumOfC1Squares< T > &function)

virtual	~GenericSumOfC1Squares ()

const boost::shared_ptr< const parent_t > &	baseFunction () const
	Get base function Base function is the vector valued function given at construction of this class. More...

Types
	ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericDifferentiableFunction< T >)

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...

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

Protected Member Functions
virtual void	impl_compute (result_ref result, const_argument_ref x) const
	Compute value of function Value is sum of squares of coordinates of vector valued base function. More...

virtual void	impl_gradient (gradient_ref gradient, const_argument_ref x, size_type row=0) const
	Gradient. More...

Protected Member Functions inherited from roboptim::GenericDifferentiableFunction< T >
	GenericDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

virtual void	impl_jacobian (jacobian_ref jacobian, const_argument_ref arg) const
	Jacobian evaluation. More...

template<>
void	impl_jacobian (jacobian_ref jacobian, const_argument_ref argument) const

Protected Member Functions inherited from roboptim::GenericFunction< T >
	GenericFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

Additional Inherited Members
Public Types inherited from roboptim::GenericDifferentiableFunction< T >
typedef std::pair< size_type, size_type >	jacobianSize_t
	Jacobian size type (pair of values). More...

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...

Detailed Description

template<typename T>
class roboptim::GenericSumOfC1Squares< T >

Generic sum of the squares of differentiable functions.

This type enables roboptim to handle Levenberg-Marquardt algorithm. This algorithm indeed minimizes the sum of squares of differentiable functions.

The differentiable functions are stored in a vector valued function called base function.

Template Parameters

T	matrix traits.

Constructor & Destructor Documentation

template<typename T >

roboptim::GenericSumOfC1Squares< T >::GenericSumOfC1Squares	(	const boost::shared_ptr< parent_t > &	function,
		const std::string &	name
	)

explicit

Constructor by vector valued functions The value of this scalar valued function is the sum of the squares of the coordinates of the vector valued base function.

template<typename T >

roboptim::GenericSumOfC1Squares< T >::GenericSumOfC1Squares ( const GenericSumOfC1Squares< T > & function )

explicit

template<typename T >

roboptim::GenericSumOfC1Squares< T >::~GenericSumOfC1Squares ( )

virtual

Member Function Documentation

template<typename T >

const boost::shared_ptr< const typename GenericSumOfC1Squares< T >::parent_t > & roboptim::GenericSumOfC1Squares< T >::baseFunction ( ) const

Get base function Base function is the vector valued function given at construction of this class.

template<typename T >

void roboptim::GenericSumOfC1Squares< T >::impl_compute	(	result_ref	result,
		const_argument_ref	x
	)		const

protectedvirtual

Compute value of function Value is sum of squares of coordinates of vector valued base function.

Implements roboptim::GenericFunction< T >.

template<typename T>

void roboptim::GenericSumOfC1Squares< T >::impl_gradient	(	gradient_ref	gradient,
		const_argument_ref	x,
		size_type	row = `0`
	)		const

protectedvirtual

Gradient.

Implements roboptim::GenericDifferentiableFunction< T >.

template<typename T>

roboptim::GenericSumOfC1Squares< T >::ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ ( GenericDifferentiableFunction< T > )

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename T> class roboptim::GenericSumOfC1Squares< T >

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class roboptim::GenericSumOfC1Squares< T >