roboptim::OptimizationLogger< T > Class Template Reference

Log the optimization process (values, Jacobians, time taken etc.). More...

#include <roboptim/core/optimization-logger.hh>

Inheritance diagram for roboptim::OptimizationLogger< T >:

Public Types
enum	LogRequestFlag {   LOG_X = 1 << 0,   LOG_COST = 1 << 1,   LOG_CONSTRAINT = 1 << 2,   LOG_CONSTRAINT_JACOBIAN = 1 << 3,   LOG_CONSTRAINT_VIOLATION = 1 << 4,   LOG_TIME = 1 << 5,   LOG_SOLVER = 1 << 6 }
	Requests supported by the logger. More...
typedef SolverCallback< S >	parent_t
typedef S	solver_t
typedef solver_t::problem_t	problem_t
typedef solver_t::problem_t::value_type	value_type
typedef solver_t::problem_t::size_type	size_type
typedef solver_t::problem_t::result_t	result_t
typedef solver_t::solverState_t	solverState_t
typedef solver_t::callback_t	callback_t
typedef solver_t::problem_t::function_t::traits_t	traits_t
typedef solver_t::problem_t::function_t	function_t
typedef function_t::matrix_t	jacobian_t
typedef function_t::argument_t	argument_t
typedef function_t::const_argument_ref	const_argument_ref
typedef GenericDifferentiableFunction < traits_t >	differentiableFunction_t
typedef unsigned int	logRequest_t
Public Types inherited from roboptim::SolverCallback< S >
typedef S	solver_t
	Solver type. More...
typedef solver_t::problem_t	problem_t
	Solver problem type. More...
typedef solver_t::callback_t	callback_t
	Per-iteration callback type. More...
typedef solver_t::solverState_t	solverState_t
	State of the solver. More...

Public Member Functions
	OptimizationLogger (solver_t &solver, const boost::filesystem::path &path, bool selfRegister=true, logRequest_t requests=FullLogging())
	Constructor. More...
virtual	~OptimizationLogger ()
	Destructor. More...
void	append (const std::string &text)
	Append extra information to the log file. More...
OptimizationLogger< S > &	operator<< (const std::string &text)
	Append extra information to the log file. More...
template<typename U >
OptimizationLogger< S > &	operator<< (const U &u)
	Append extra information to the log file. More...
bool	isRequested (logRequest_t r) const
	Determine if a given request was made by the user. More...
const boost::filesystem::path &	logPath () const
	Return the path of the log directory. More...
virtual std::ostream &	print (std::ostream &o) const
	Display the logger on the specified output stream. More...
template<typename U >
OptimizationLogger< T > &	operator<< (const U &u)
Public Member Functions inherited from roboptim::SolverCallback< S >
	SolverCallback (const std::string &name="unnamed callback")
	Solver callback constructor. More...
virtual	~SolverCallback ()
	Destructor. More...
const std::string &	name () const
	Return the name of the callback. More...
callback_t	callback ()
	Callback function. More...
void	operator() (const problem_t &pb, solverState_t &state)
	Evaluate the callback. More...

Static Public Member Functions
static logRequest_t	FullLogging ()
	Log everything. More...

Protected Member Functions
void	perIterationCallback (const problem_t &pb, solverState_t &state)
	Wrapper around the callback function that catch exceptions. More...
virtual void	perIterationCallbackUnsafe (const typename solver_t::problem_t &pb, typename solver_t::solverState_t &state)
const boost::filesystem::path &	path () const
	Return the path of the log directory. More...
boost::filesystem::path &	path ()
	Return the path of the log directory. More...
const solver_t &	solver () const
	Return the solver associated with the logger. More...
solver_t &	solver ()
	Return the solver associated with the logger. More...
unsigned	callbackCallId () const
	Return the callback iteration index. More...
Protected Member Functions inherited from roboptim::SolverCallback< S >
virtual void	perIterationCallbackUnsafe (const problem_t &pb, solverState_t &state)=0
	The actual callback function. More...

Detailed Description

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

Log the optimization process (values, Jacobians, time taken etc.).

Template Parameters

S	solver type.

Member Typedef Documentation

template<typename T>

typedef function_t::argument_t roboptim::OptimizationLogger< T >::argument_t

template<typename T>

typedef solver_t::callback_t roboptim::OptimizationLogger< T >::callback_t

template<typename T>

typedef function_t::const_argument_ref roboptim::OptimizationLogger< T >::const_argument_ref

template<typename T>

typedef GenericDifferentiableFunction<traits_t> roboptim::OptimizationLogger< T >::differentiableFunction_t

template<typename T>

typedef solver_t::problem_t::function_t roboptim::OptimizationLogger< T >::function_t

template<typename T>

typedef function_t::matrix_t roboptim::OptimizationLogger< T >::jacobian_t

template<typename T>

typedef unsigned int roboptim::OptimizationLogger< T >::logRequest_t

template<typename T>

typedef SolverCallback<S> roboptim::OptimizationLogger< T >::parent_t

template<typename T>

typedef solver_t::problem_t roboptim::OptimizationLogger< T >::problem_t

template<typename T>

typedef solver_t::problem_t::result_t roboptim::OptimizationLogger< T >::result_t

template<typename T>

typedef solver_t::problem_t::size_type roboptim::OptimizationLogger< T >::size_type

template<typename T>

typedef S roboptim::OptimizationLogger< T >::solver_t

template<typename T>

typedef solver_t::solverState_t roboptim::OptimizationLogger< T >::solverState_t

template<typename T>

typedef solver_t::problem_t::function_t::traits_t roboptim::OptimizationLogger< T >::traits_t

template<typename T>

typedef solver_t::problem_t::value_type roboptim::OptimizationLogger< T >::value_type

Member Enumeration Documentation

template<typename T>

enum roboptim::OptimizationLogger::LogRequestFlag

Requests supported by the logger.

TODO: use strongly typed enum when moving to C++11

Enumerator
LOG_X	Log the argument vector.
LOG_COST	Log the cost function's values.
LOG_CONSTRAINT	Log the constraint values.
LOG_CONSTRAINT_JACOBIAN	Log the constraint Jacobian matrices.
LOG_CONSTRAINT_VIOLATION	Log the constraint violation.
LOG_TIME	Log the time.
LOG_SOLVER	Log the solver.

Constructor & Destructor Documentation

template<typename T >

roboptim::OptimizationLogger< T >::OptimizationLogger ( solver_t &  solver, const boost::filesystem::path &  path, bool  selfRegister = true, logRequest_t  requests = FullLogging ()  )

explicit

Constructor.

Parameters

solver	solver that will be logged.
path	path to the log directory.
selfRegister	whether the logger will register itself as a callback with the solver. Set this to false if you use it with a multiplexer.
requests	request the logging of specific data.

References roboptim::iendl(), roboptim::OptimizationLogger< T >::isRequested(), roboptim::OptimizationLogger< T >::LOG_CONSTRAINT, roboptim::OptimizationLogger< T >::LOG_CONSTRAINT_VIOLATION, roboptim::OptimizationLogger< T >::LOG_COST, and roboptim::OptimizationLogger< T >::LOG_X.

template<typename T >

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

virtual

Destructor.

CSV files are written in this destructor.

References roboptim::iendl().

Member Function Documentation

template<typename T >

void roboptim::OptimizationLogger< T >::append

(

const std::string &

text

)

Append extra information to the log file.

Parameters

text	text to append.

References roboptim::iendl().

template<typename T >

unsigned roboptim::OptimizationLogger< T >::callbackCallId ( ) const

protected

Return the callback iteration index.

Returns

callback iteration index.

template<typename T >

OptimizationLogger< T >::logRequest_t roboptim::OptimizationLogger< T >::FullLogging ( )

static

Log everything.

template<typename T >

bool roboptim::OptimizationLogger< T >::isRequested

(

logRequest_t

r

)

const

Determine if a given request was made by the user.

Parameters

r

request.

Returns

true if the user made this request.

Referenced by roboptim::OptimizationLogger< T >::OptimizationLogger().

template<typename T >

const boost::filesystem::path & roboptim::OptimizationLogger< T >::logPath

(

)

const

Return the path of the log directory.

Note

Seeing that the non-const version of path () needs to be protected, we need to rename this function to make it public, since overload resolution takes place before accessibility checks.

Returns

path of the log directory.

template<typename T >

OptimizationLogger< T > & roboptim::OptimizationLogger< T >::operator<<

(

const std::string &

text

)

Append extra information to the log file.

Parameters

text	text to append.

template<typename T>

template<typename U >

OptimizationLogger<S>& roboptim::OptimizationLogger< T >::operator<<

(

const U &

u

)

Append extra information to the log file.

Parameters

u	object to print.

template<typename T>

template<typename U >

OptimizationLogger<T>& roboptim::OptimizationLogger< T >::operator<<

(

const U &

u

)

template<typename T >

const boost::filesystem::path & roboptim::OptimizationLogger< T >::path ( ) const

protected

Return the path of the log directory.

Note

This function should not be made public since the non-const version is protected.

Returns

path of the log directory.

template<typename T >

boost::filesystem::path & roboptim::OptimizationLogger< T >::path ( )

protected

Return the path of the log directory.

This method is protected since streams would need to be updated, and files that were already written moved to the new location.

Returns

path of the log directory.

template<typename T >

void roboptim::OptimizationLogger< T >::perIterationCallback ( const problem_t &  pb, solverState_t &  state  )

protectedvirtual

Wrapper around the callback function that catch exceptions.

Parameters

pb	optimization problem.
state	state of the solver after an iteration.

Reimplemented from roboptim::SolverCallback< S >.

template<typename T >

void roboptim::OptimizationLogger< T >::perIterationCallbackUnsafe ( const typename solver_t::problem_t &  pb, typename solver_t::solverState_t &  state  )

protectedvirtual

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

template<typename T >

std::ostream & roboptim::OptimizationLogger< T >::print ( std::ostream &  o ) const

virtual

Display the logger on the specified output stream.

Parameters

o	output stream used for display.

Returns

output stream.

Reimplemented from roboptim::SolverCallback< S >.

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

template<typename T >

const OptimizationLogger< T >::solver_t & roboptim::OptimizationLogger< T >::solver ( ) const

protected

Return the solver associated with the logger.

Returns

solver associated with the logger.

template<typename T >

OptimizationLogger< T >::solver_t & roboptim::OptimizationLogger< T >::solver ( )

protected

Return the solver associated with the logger.

Returns

solver associated with the logger.