roboptim::detail::StructuredInput< FuncType > Class Template Reference

Provides utility methods to describe the input format of a function. More...

#include <roboptim/core/detail/structured-input.hh>

Inheritance diagram for roboptim::detail::StructuredInput< FuncType >:

Public Types
typedef Eigen::Ref< const typename FuncType::argument_t > ::ConstSegmentReturnType	ConstSegment
	return type of the getInputBlock() method More...

Public Member Functions
void	addBlock (size_t size)
	Adds a new block of input to the function. More...
size_t	getNumBlocks () const
	Returns the number of blocks defined by the function. More...
ConstSegment	getInputBlock (typename FuncType::const_argument_ref input, size_t blockInd) const
	Reads a specified block of data from an input argument. More...

Detailed Description

template<typename FuncType>
class roboptim::detail::StructuredInput< FuncType >

Provides utility methods to describe the input format of a function.

Inheriting from this class will allow a function to define "blocks" of input. You can then retrieve a specific block from the whole input, or the specific part of the jacobian depending on this block.

To inherit from this class, please specify as the template argument the roboptim function type of the function (Function, DifferentiableFunction, LinearFunction, et cetera)

Member Typedef Documentation

template<typename FuncType>

typedef Eigen::Ref<const typename FuncType::argument_t>::ConstSegmentReturnType roboptim::detail::StructuredInput< FuncType >::ConstSegment

return type of the getInputBlock() method

Member Function Documentation

template<typename U >

void roboptim::detail::StructuredInput< U >::addBlock

(

size_t

size

)

Adds a new block of input to the function.

Parameters

size	size of the block to add

References roboptim::detail::BlockProvider::blocks.

template<typename U>

StructuredInput< U >::ConstSegment roboptim::detail::StructuredInput< U >::getInputBlock	(	typename U::const_argument_ref	input,
		size_t	blockInd
	)		const

Reads a specified block of data from an input argument.

Parameters

input	the input data to be read
blockInd	the index of the block to be read

References roboptim::detail::BlockProvider::blocks.

template<typename U >

size_t roboptim::detail::StructuredInput< U >::getNumBlocks

(

)

const

Returns the number of blocks defined by the function.

References roboptim::detail::BlockProvider::blocks.