Explicit specialization for the stop case of NTimesDerivable class. More...

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

Inheritance diagram for roboptim::NTimesDerivableFunction< 2 >:

Public Types
typedef TwiceDifferentiableFunction	parent_t
	Parent type. More...

typedef parent_t::traits_t	traits_t
	Traits type. More...

Public Types inherited from roboptim::GenericTwiceDifferentiableFunction< T >
typedef std::pair< size_type, size_type >	hessianSize_t
	Hessian size type represented as a pair of values. More...

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

Public Types inherited from roboptim::GenericFunction< T >
typedef T	traits_t
	Traits type. More...

typedef GenericFunctionTraits < T >::value_type	value_type
	Values type. More...

typedef GenericFunctionTraits < T >::size_type	size_type
	Size type. More...

typedef std::string	name_t
	Type of a function argument name. More...

typedef std::vector< name_t >	names_t
	Type of a vector of function argument names. More...

typedef std::pair< value_type, value_type >	interval_t
	Interval type (lower, upper). More...

typedef std::vector< interval_t >	intervals_t
	Vector of intervals. More...

typedef boost::tuple < value_type, value_type, value_type >	discreteInterval_t
	Types representing a discrete interval. More...

Public Member Functions
	ROBOPTIM_GENERATE_TRAITS_REFS_T (derivative, traits_t)
	Derivative type. More...

virtual size_type	derivabilityOrderMax () const
	Returns the maximum derivability order (relevant for N>2 only) More...

virtual	~NTimesDerivableFunction ()

size_type	derivativeSize () const
	Return the size of the derivative vector. More...

bool	isValidDerivative (const_derivative_ref derivative) const
	Check if a derivative is valid (check sizes). More...

result_t	operator() (value_type argument) const
	Evaluate the function at a specified point. More...

void	operator() (result_ref result, value_type argument) const
	Evaluate the function at a specified point. More...

derivative_t	derivative (value_type argument, size_type order=1) const
	Compute the derivative of the function. More...

void	derivative (derivative_ref derivative, value_type argument, size_type order=1) const
	Compute the derivative of the function. More...

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

Static Public Attributes
static const size_type	derivabilityOrder = 2
	Function derivability order. More...

Protected Member Functions
	NTimesDerivableFunction (size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

void	impl_compute (result_ref result, const_argument_ref argument) const
	Function evaluation. More...

virtual void	impl_compute (result_ref result, value_type t) const =0
	Function evaluation. More...

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

virtual void	impl_derivative (derivative_ref derivative, value_type argument, size_type order=1) const =0
	Derivative evaluation. More...

void	impl_hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const
	Hessian evaluation. More...

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

void	setZero (hessian_ref symmetric) const
	Set a symmetric matrix to zero. 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
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...

Detailed Description

template<>
class roboptim::NTimesDerivableFunction< 2 >

Explicit specialization for the stop case of NTimesDerivable class.

This specialization defines the interface of a ``n times derivable function'' and implements generic methods required by upper classes using this class specific interface.

Member Typedef Documentation

typedef TwiceDifferentiableFunction roboptim::NTimesDerivableFunction< 2 >::parent_t

Parent type.

typedef parent_t::traits_t roboptim::NTimesDerivableFunction< 2 >::traits_t

Traits type.

Constructor & Destructor Documentation

virtual roboptim::NTimesDerivableFunction< 2 >::~NTimesDerivableFunction ( )

inlinevirtual

roboptim::NTimesDerivableFunction< 2 >::NTimesDerivableFunction	(	size_type	outputSize = `1`,
		std::string	name = `std::string ()`
	)

inlineprotected

Concrete class constructor should call this constructor.

Parameters

outputSize	output size (result size)
name	function's name

Member Function Documentation

virtual size_type roboptim::NTimesDerivableFunction< 2 >::derivabilityOrderMax ( ) const

inlinevirtual

Returns the maximum derivability order (relevant for N>2 only)

derivative_t roboptim::NTimesDerivableFunction< 2 >::derivative	(	value_type	argument,
		size_type	order = `1`
	)		const

inline

Compute the derivative of the function.

Derivative is computed for a certain order, at a given point.

Parameters

argument	point at which the derivative will be computed
order	derivative order (if 0 then function is evaluated)

Returns: derivative vector

References roboptim::derivative().

void roboptim::NTimesDerivableFunction< 2 >::derivative	(	derivative_ref	derivative,
		value_type	argument,
		size_type	order = `1`
	)		const

inline

Compute the derivative of the function.

Derivative is computed for a certain order, at a given point.

Parameters

derivative	derivative will be stored in this vector
argument	point at which the derivative will be computed
order	derivative order (if 0 then function is evaluated)

References roboptim::NTimesDerivableFunction< DerivabilityOrder >::derivabilityOrderMax().

size_type roboptim::NTimesDerivableFunction< 2 >::derivativeSize ( ) const

inline

Return the size of the derivative vector.

Returns: derivative vector size

void roboptim::NTimesDerivableFunction< 2 >::impl_compute	(	result_ref	result,
		const_argument_ref	argument
	)		const

inlineprotectedvirtual

Function evaluation.

Implement generic function evaluation, as required by Function, using this class evaluation method (using a double instead of a vector).

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 >.

virtual void roboptim::NTimesDerivableFunction< 2 >::impl_compute	(	result_ref	result,
		value_type	t
	)		const

protectedpure virtual

Function evaluation.

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

Warning: Do not call this function directly, call #operator()(double) const instead.

Parameters

result	result will be stored in this vector
t	point at which the function will be evaluated

virtual void roboptim::NTimesDerivableFunction< 2 >::impl_derivative	(	derivative_ref	derivative,
		value_type	argument,
		size_type	order = `1`
	)		const

protectedpure virtual

Derivative evaluation.

Compute the derivative, has to be implemented in concrete classes.

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

Parameters

derivative	derivative will be store in this argument
argument	point where the gradient will be computed
order	derivative order (if 0 evaluates the function)

void roboptim::NTimesDerivableFunction< 2 >::impl_gradient	(	gradient_ref	gradient,
		const_argument_ref	argument,
		size_type	functionId = `0`
	)		const

inlineprotectedvirtual

Gradient evaluation.

Implement the gradient computation, as required by DerivableFunction. 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 or derivative instead.

Parameters

gradient	gradient will be store in this argument
argument	point where the gradient will be computed
functionId	evaluated function id in the split representation

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

Implements roboptim::GenericDifferentiableFunction< T >.

References roboptim::derivative(), roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

void roboptim::NTimesDerivableFunction< 2 >::impl_hessian	(	hessian_ref	hessian,
		const_argument_ref	argument,
		size_type	functionId = `0`
	)		const

inlineprotectedvirtual

Hessian evaluation.

Implement the hessian computation, as required by the TwiceDerivableFunction class using the derivative method. The hessian is computed for a specific sub-function which id is passed through the functionId argument.

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

Parameters

hessian	hessian will be stored here
argument	point where the hessian will be computed
functionId	evaluated function id in the split representation

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

Implements roboptim::GenericTwiceDifferentiableFunction< T >.

References roboptim::derivative(), roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

bool roboptim::NTimesDerivableFunction< 2 >::isValidDerivative ( const_derivative_ref derivative ) const

inline

Check if a derivative is valid (check sizes).

Parameters

derivative derivative vector to be checked

Returns: true if valid, false if not

result_t roboptim::NTimesDerivableFunction< 2 >::operator() ( value_type argument ) const

inline

Evaluate the function at a specified point.

The program will abort if the argument does not have the expected size.

Parameters

argument point at which the function will be evaluated

Returns: computed result

void roboptim::NTimesDerivableFunction< 2 >::operator()	(	result_ref	result,
		value_type	argument
	)		const

inline

Evaluate the function at a specified point.

The program will abort if the argument does not have the expected size.

Parameters

result	result will be stored in this vector
argument	point at which the function will be evaluated

Returns: computed result

virtual std::ostream& roboptim::NTimesDerivableFunction< 2 >::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::GenericTwiceDifferentiableFunction< T >.

References roboptim::NTimesDerivableFunction< DerivabilityOrder >::derivabilityOrderMax().

roboptim::NTimesDerivableFunction< 2 >::ROBOPTIM_GENERATE_TRAITS_REFS_T	(	derivative	,
		traits_t
	)

Derivative type.

Derivatives are column vectors.

Member Data Documentation

const size_type roboptim::NTimesDerivableFunction< 2 >::derivabilityOrder = 2

static

Function derivability order.

One static const variable per class in inheritance structure.

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

template<> class roboptim::NTimesDerivableFunction< 2 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<>
class roboptim::NTimesDerivableFunction< 2 >