roboptim::finiteDifferenceGradientPolicies::Policy< T > Class Template Reference

Interface for the finite difference gradient policies. More...

#include <roboptim/core/decorator/finite-difference-gradient.hh>

Inheritance diagram for roboptim::finiteDifferenceGradientPolicies::Policy< T >:

Public Member Functions
	ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericDifferentiableFunction< T >)
	Policy (const GenericFunction< T > &adaptee)
virtual	~Policy ()
	Virtual destructor. More...
value_type &	sparseEpsilon ()
	Get a reference to the epsilon used to converse dense to sparse matrices. More...

Protected Member Functions
virtual void	computeGradient (value_type epsilon, gradient_ref gradient, const_argument_ref argument, size_type idFunction, argument_ref xEps) const =0
virtual void	computeColumn (value_type epsilon, gradient_ref column, const_argument_ref argument, size_type colIdx, argument_ref xEps) const =0
virtual void	computeJacobian (value_type epsilon, jacobian_ref jacobian, const_argument_ref argument, argument_ref xEps) const
template<>
void	computeJacobian (value_type epsilon, jacobian_ref jacobian, const_argument_ref argument, argument_ref xEps) const

Protected Attributes
const GenericFunction< T > &	adaptee_
	Wrapped function. More...
vector_t	column_
	Vector storing temporary Jacobian column. More...
gradient_t	gradient_
	Vector storing temporary Jacobian row. More...
value_type	sparseEps_
	Threshold used for the conversion from dense to sparse matrix. More...

Detailed Description

template<typename T>
class roboptim::finiteDifferenceGradientPolicies::Policy< T >

Interface for the finite difference gradient policies.

Constructor & Destructor Documentation

template<typename T >

roboptim::finiteDifferenceGradientPolicies::Policy< T >::Policy ( const GenericFunction< T > &  adaptee )

inlineexplicit

template<typename T >

virtual roboptim::finiteDifferenceGradientPolicies::Policy< T >::~Policy ( )

inlinevirtual

Virtual destructor.

Member Function Documentation

template<typename T >

virtual void roboptim::finiteDifferenceGradientPolicies::Policy< T >::computeColumn ( value_type  epsilon, gradient_ref  column, const_argument_ref  argument, size_type  colIdx, argument_ref  xEps  ) const

protectedpure virtual

Implemented in roboptim::finiteDifferenceGradientPolicies::FivePointsRule< T >, roboptim::finiteDifferenceGradientPolicies::Simple< T >, roboptim::finiteDifferenceGradientPolicies::FivePointsRule< T >, and roboptim::finiteDifferenceGradientPolicies::Simple< T >.

template<typename T >

virtual void roboptim::finiteDifferenceGradientPolicies::Policy< T >::computeGradient ( value_type  epsilon, gradient_ref  gradient, const_argument_ref  argument, size_type  idFunction, argument_ref  xEps  ) const

protectedpure virtual

Implemented in roboptim::finiteDifferenceGradientPolicies::FivePointsRule< T >, roboptim::finiteDifferenceGradientPolicies::Simple< T >, roboptim::finiteDifferenceGradientPolicies::FivePointsRule< T >, and roboptim::finiteDifferenceGradientPolicies::Simple< T >.

template<typename T >

void roboptim::finiteDifferenceGradientPolicies::Policy< T >::computeJacobian ( value_type  epsilon, jacobian_ref  jacobian, const_argument_ref  argument, argument_ref  xEps  ) const

protectedvirtual

Reimplemented in roboptim::finiteDifferenceGradientPolicies::FivePointsRule< T >, roboptim::finiteDifferenceGradientPolicies::FivePointsRule< T >, and roboptim::finiteDifferenceGradientPolicies::Simple< T >.

References roboptim::GenericFunction< T >::inputSize().

Referenced by roboptim::finiteDifferenceGradientPolicies::Policy< T >::computeJacobian().

template<>

void roboptim::finiteDifferenceGradientPolicies::Policy< EigenMatrixSparse >::computeJacobian ( value_type  epsilon, jacobian_ref  jacobian, const_argument_ref  argument, argument_ref  xEps  ) const

inlineprotected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::finiteDifferenceGradientPolicies::Policy< T >::computeJacobian(), roboptim::GenericFunction< T >::inputSize(), roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

template<typename T >

roboptim::finiteDifferenceGradientPolicies::Policy< T >::ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_

(

GenericDifferentiableFunction< T >

)

template<typename T >

value_type& roboptim::finiteDifferenceGradientPolicies::Policy< T >::sparseEpsilon ( )

inline

Get a reference to the epsilon used to converse dense to sparse matrices.

This is only relevant when dealing with sparse functions. Set to a negative value to keep zeros as well.

References roboptim::finiteDifferenceGradientPolicies::Policy< T >::sparseEps_.

Member Data Documentation

template<typename T >

const GenericFunction<T>& roboptim::finiteDifferenceGradientPolicies::Policy< T >::adaptee_

protected

Wrapped function.

template<typename T >

vector_t roboptim::finiteDifferenceGradientPolicies::Policy< T >::column_

mutableprotected

Vector storing temporary Jacobian column.

template<typename T >

gradient_t roboptim::finiteDifferenceGradientPolicies::Policy< T >::gradient_

mutableprotected

Vector storing temporary Jacobian row.

template<typename T >

value_type roboptim::finiteDifferenceGradientPolicies::Policy< T >::sparseEps_

protected

Threshold used for the conversion from dense to sparse matrix.

Referenced by roboptim::finiteDifferenceGradientPolicies::Policy< T >::sparseEpsilon().