roboptim::ParametrizedFunction< F > Class Template Reference

Define an abstract parametrized mathematical function ( \(C^0\)). More...

#include <roboptim/core/parametrized-function.hh>

Inheritance diagram for roboptim::ParametrizedFunction< F >:

Public Types
typedef F::value_type	value_type
	Import value type. More...
typedef F::size_type	size_type
	Import size type. More...
typedef F::vector_t	vector_t
	Import vector type. More...
typedef F::matrix_t	matrix_t
	Import matrix type. More...
typedef F	result_t
	Import result type. More...
typedef F::argument_t	argument_t
	Import argument types. More...
typedef F::const_argument_ref	const_argument_ref

Public Member Functions
result_t	operator() (const_argument_ref argument) const
	Evaluate the function at a specified point. More...
size_type	inputSize () const
	Return the input size (i.e. More...
size_type	functionInputSize () const
	Return the function's input size (i.e. More...
size_type	functionOutputSize () const
	Return the function's output size (i.e. More...
virtual std::ostream &	print (std::ostream &) const
	Display the function on the specified output stream. More...

Protected Member Functions
	ParametrizedFunction (size_type inputSize, size_type functionInputSize, size_type functionOutputSize)
	Concrete class constructor should call this constructor. More...
virtual	~ParametrizedFunction ()
virtual result_t	impl_compute (const_argument_ref argument) const =0
	Function evaluation. More...

Detailed Description

template<typename F>
class roboptim::ParametrizedFunction< F >

Define an abstract parametrized mathematical function ( \(C^0\)).

A function is an object that can be evaluated for a given point.

\[ f : p \rightarrow g \]

\(p \in \mathbb{R}^p\), \(g \in G\) where \(p\) is the input size and \(G = \mathbb{R}^n \in \mathbb{R}^m\) ( \(n, m \in \mathbb{R}^2\)).

Functions are pure immutable objects: evaluating a function twice at a given point must give the same result.

Template Parameters

F	inner function type.

Member Typedef Documentation

template<typename F>

typedef F::argument_t roboptim::ParametrizedFunction< F >::argument_t

Import argument types.

template<typename F>

typedef F::const_argument_ref roboptim::ParametrizedFunction< F >::const_argument_ref

template<typename F>

typedef F::matrix_t roboptim::ParametrizedFunction< F >::matrix_t

Import matrix type.

template<typename F>

typedef F roboptim::ParametrizedFunction< F >::result_t

Import result type.

template<typename F>

typedef F::size_type roboptim::ParametrizedFunction< F >::size_type

Import size type.

template<typename F>

typedef F::value_type roboptim::ParametrizedFunction< F >::value_type

Import value type.

template<typename F>

typedef F::vector_t roboptim::ParametrizedFunction< F >::vector_t

Import vector type.

Constructor & Destructor Documentation

template<typename F >

roboptim::ParametrizedFunction< F >::ParametrizedFunction ( size_type  inputSize, size_type  functionInputSize, size_type  functionOutputSize  )

protected

Concrete class constructor should call this constructor.

Parameters

inputSize	parameter size
functionInputSize	inner function argument size
functionOutputSize	inner function result size

template<typename F>

virtual roboptim::ParametrizedFunction< F >::~ParametrizedFunction ( )

inlineprotectedvirtual

Member Function Documentation

template<typename F >

ParametrizedFunction< F >::size_type roboptim::ParametrizedFunction< F >::functionInputSize

(

)

const

Return the function's input size (i.e.

argument's vector size).

Returns

input size

template<typename F >

ParametrizedFunction< F >::size_type roboptim::ParametrizedFunction< F >::functionOutputSize

(

)

const

Return the function's output size (i.e.

result's vector size).

Returns

output size

Referenced by roboptim::DerivableParametrizedFunction< F >::impl_jacobian(), and roboptim::DerivableParametrizedFunction< F >::jacobianSize().

template<typename F>

virtual result_t roboptim::ParametrizedFunction< F >::impl_compute ( const_argument_ref  argument ) const

protectedpure virtual

Function evaluation.

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

Warning

Do not call this function directly, call operator()(const_argument_ref) const instead.

Parameters

argument

point at which the function will be evaluated

template<typename F >

ParametrizedFunction< F >::size_type roboptim::ParametrizedFunction< F >::inputSize

(

)

const

Return the input size (i.e.

argument's vector size).

Returns

input size

Referenced by roboptim::DerivableParametrizedFunction< F >::gradient(), roboptim::DerivableParametrizedFunction< F >::gradientSize(), roboptim::DerivableParametrizedFunction< F >::impl_jacobian(), roboptim::DerivableParametrizedFunction< F >::jacobian(), and roboptim::DerivableParametrizedFunction< F >::jacobianSize().

template<typename F >

ParametrizedFunction< F >::result_t roboptim::ParametrizedFunction< F >::operator()

(

const_argument_ref

argument

)

const

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

template<typename F >

std::ostream & roboptim::ParametrizedFunction< F >::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 in roboptim::DerivableParametrizedFunction< F >.