roboptim::Solver< T > Class Template Reference

Solver for a specific problem class. More...

#include <roboptim/core/solver.hh>

Inheritance diagram for roboptim::Solver< T >:

Public Types
typedef Problem< T >	problem_t
	Solver problem type. More...
typedef GenericFunction< T > ::vector_t	vector_t
	Import vector type from cost function. More...
typedef std::map< std::string, Parameter >	parameters_t
	Map of parameters. More...
typedef SolverState< problem_t >	solverState_t
	State of the solver. More...
typedef boost::function< void(const problem_t &problem, solverState_t &state)>	callback_t
	Per-iteration callback type. More...
Public Types inherited from roboptim::GenericSolver
enum	solutions {   SOLVER_NO_SOLUTION,   SOLVER_VALUE,   SOLVER_ERROR,   SOLVER_VALUE_WARNINGS }
	Define the kind of solution which has been found. More...

Public Member Functions
	Solver (const problem_t &problem)
	Instantiate a solver from a problem. More...
virtual	~Solver ()
const problem_t &	problem () const
	Retrieve the problem. More...
virtual void	setIterationCallback (callback_t)
	Set the per-iteration callback. More...
virtual std::ostream &	print (std::ostream &) const
	Display the solver on the specified output stream. More...
Parameters
const parameters_t &	parameters () const
parameters_t &	parameters ()
template<typename U >
const U &	getParameter (const std::string &key) const
Plugin name
const std::string &	pluginName () const
std::string &	pluginName ()
Public Member Functions inherited from roboptim::GenericSolver
void	reset ()
	Force to restart the optimization. More...
virtual void	solve ()=0
	Solve the problem. More...
const result_t &	minimum ()
	Returns the function minimum. More...
solutions	minimumType ()
	Determine real minimum type. More...
template<typename T >
const T &	getMinimum ()
	Get real result. More...
	GenericSolver ()
	GenericSolver (const GenericSolver &)
virtual	~GenericSolver ()

Protected Attributes
const problem_t	problem_
	Problem that will be solved. More...
parameters_t	parameters_
	Solver parameters (run-time configuration). More...
std::string	plugin_name_
	Plugin name. More...
Protected Attributes inherited from roboptim::GenericSolver
result_t	result_
	Optimization result. More...

Additional Inherited Members
Public Attributes inherited from roboptim::GenericSolver
ROBOPTIM_ALLOW_DEPRECATED_ON typedef boost::variant < NoSolution, Result, SolverError, ResultWithWarnings >	result_t
	Result type. More...

Detailed Description

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

Solver for a specific problem class.

This class is parametrized by two types: the cost function type and the constraints type.

Solver classes are immutable, the problem can not be changed after the class instantiation.

Template Parameters

T	matrix type

Member Typedef Documentation

template<typename T>

typedef boost::function<void (const problem_t& problem, solverState_t& state)> roboptim::Solver< T >::callback_t

Per-iteration callback type.

Callback parameters:

• problem is a (constant) reference to the problem
• state is the current state of the optimization solver. It can be modified by the callback, and updated values can be used by the solver to determine what to do next.

template<typename T>

typedef std::map<std::string, Parameter> roboptim::Solver< T >::parameters_t

Map of parameters.

template<typename T>

typedef Problem<T> roboptim::Solver< T >::problem_t

Solver problem type.

The solver can solve problems of this type. If another kind of problem is given, a conversion will be required.

template<typename T>

typedef SolverState<problem_t> roboptim::Solver< T >::solverState_t

State of the solver.

template<typename T>

typedef GenericFunction<T>::vector_t roboptim::Solver< T >::vector_t

Import vector type from cost function.

Constructor & Destructor Documentation

template<typename T >

roboptim::Solver< T >::Solver ( const problem_t &  problem )

explicit

Instantiate a solver from a problem.

Parameters

problem

problem that should be solved

template<typename T >

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

virtual

Member Function Documentation

template<typename T >

template<typename U >

const U & roboptim::Solver< T >::getParameter

(

const std::string &

key

)

const

template<typename T >

const Solver< T >::parameters_t & roboptim::Solver< T >::parameters

(

)

const

template<typename T >

Solver< T >::parameters_t & roboptim::Solver< T >::parameters

(

)

template<typename T >

const std::string & roboptim::Solver< T >::pluginName

(

)

const

template<typename T >

std::string & roboptim::Solver< T >::pluginName

(

)

template<typename T >

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

virtual

Display the solver on the specified output stream.

Parameters

o	output stream used for display

Returns

output stream

Reimplemented from roboptim::GenericSolver.

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

template<typename T >

const Solver< T >::problem_t & roboptim::Solver< T >::problem

(

)

const

Retrieve the problem.

Returns

problem this solver is solving

template<typename T>

virtual void roboptim::Solver< T >::setIterationCallback ( callback_t  )

inlinevirtual

Set the per-iteration callback.

The per-iteration callback is a callback called each time one iteration of the optimization process is finished.

Not all the solvers support such a callback so this method may throw a std::runtime_error to let you know this feature is unsupported.

Exceptions

std::runtime_error

Reimplemented in roboptim::GenericDummySolverLastState< T >.

Member Data Documentation

template<typename T>

parameters_t roboptim::Solver< T >::parameters_

protected

Solver parameters (run-time configuration).

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

template<typename T>

std::string roboptim::Solver< T >::plugin_name_

protected

Plugin name.

template<typename T>

const problem_t roboptim::Solver< T >::problem_

protected

Problem that will be solved.