roboptim::SolverState< P > Class Template Reference

State of the solver. More...

#include <roboptim/core/solver-state.hh>

Inheritance diagram for roboptim::SolverState< P >:

List of all members.

Public Types
typedef P	problem_t
	Problem type.
typedef P::function_t::argument_t	argument_t
	Import argument types from problem.
typedef P::value_type	value_type
	Import value type from problem.
typedef P::function_t	function_t
	Import function type from problem.
typedef std::map< std::string, StateParameter< function_t > >	parameters_t
	Map of parameters.
Public Member Functions
	SolverState (const problem_t &problem)
	Instantiate a solver from a problem.
virtual	~SolverState ()
const argument_t &	x () const
	Retrieve the current optimization parameters.
argument_t &	x ()
const boost::optional < value_type > &	cost () const
	Retrieve the current cost.
boost::optional< value_type > &	cost ()
const boost::optional < value_type > &	constraintViolation () const
	Retrieve the current constraint violation.
boost::optional< value_type > &	constraintViolation ()
virtual std::ostream &	print (std::ostream &) const
	Display the solver state on the specified output stream.
Parameters
const parameters_t &	parameters () const
parameters_t &	parameters ()
template<typename T >
const T &	getParameter (const std::string &key) const
	Get a parameter.
template<typename T >
T &	getParameter (const std::string &key)
	Get a parameter.
Protected Attributes
argument_t	x_
	Current optimization parameters.
boost::optional< value_type >	cost_
	Current cost.
boost::optional< value_type >	constraintViolation_
	Current constraint violation.
parameters_t	parameters_
	Solver state extra parameters (solver-specific parameters etc.).

---

Detailed Description

template<typename P>
class roboptim::SolverState< P >

State of the solver.

Template Parameters:

P	problem type.

---

Member Typedef Documentation

template<typename P>

typedef P::function_t::argument_t roboptim::SolverState< P >::argument_t

Import argument types from problem.

template<typename P>

typedef P::function_t roboptim::SolverState< P >::function_t

Import function type from problem.

template<typename P>

typedef std::map<std::string, StateParameter<function_t> > roboptim::SolverState< P >::parameters_t

Map of parameters.

template<typename P>

typedef P roboptim::SolverState< P >::problem_t

Problem type.

template<typename P>

typedef P::value_type roboptim::SolverState< P >::value_type

Import value type from problem.

---

Constructor & Destructor Documentation

template<typename P >

roboptim::SolverState< P >::SolverState

(

const problem_t &

problem

)

[explicit]

Instantiate a solver from a problem.

Parameters:

problem

problem that should be solved

References roboptim::SolverState< P >::x_.

template<typename P >

roboptim::SolverState< P >::~SolverState

(

)

[virtual]

---

Member Function Documentation

template<typename P >

const boost::optional< typename SolverState< P >::value_type > & roboptim::SolverState< P >::constraintViolation

(

)

const

Retrieve the current constraint violation.

Returns:

current constraint violation

template<typename P >

boost::optional< typename SolverState< P >::value_type > & roboptim::SolverState< P >::constraintViolation

(

)

template<typename P >

const boost::optional< typename SolverState< P >::value_type > & roboptim::SolverState< P >::cost

(

)

const

Retrieve the current cost.

Returns:

current cost

template<typename P >

boost::optional< typename SolverState< P >::value_type > & roboptim::SolverState< P >::cost

(

)

template<typename P >

template<typename T >

const T & roboptim::SolverState< P >::getParameter

(

const std::string &

key

)

const

Get a parameter.

Template Parameters:

T	parameter type.

Parameters:

key	parameter key.

Returns:

parameter.

Exceptions:

std::out_of_range

template<typename P >

template<typename T >

T & roboptim::SolverState< P >::getParameter

(

const std::string &

key

)

Get a parameter.

Template Parameters:

T	parameter type.

Parameters:

key	parameter key.

Returns:

parameter.

Exceptions:

std::out_of_range

template<typename P >

const SolverState< P >::parameters_t & roboptim::SolverState< P >::parameters

(

)

const

template<typename P >

SolverState< P >::parameters_t & roboptim::SolverState< P >::parameters

(

)

template<typename P >

std::ostream & roboptim::SolverState< P >::print

(

std::ostream &

o

)

const [virtual]

Display the solver state on the specified output stream.

Parameters:

o	output stream used for display

Returns:

output stream

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

template<typename P >

const SolverState< P >::argument_t & roboptim::SolverState< P >::x

(

)

const

Retrieve the current optimization parameters.

Returns:

current optimization parameters

Note: we do not use (const_)argument_ref here since this would return a reference to a local temporary variable when dealing with Eigen::Ref: const Eigen::Ref<const argument_t>&

References x_.

template<typename P >

SolverState< P >::argument_t & roboptim::SolverState< P >::x

(

)

References x_.

---

Member Data Documentation

template<typename P>

boost::optional<value_type> roboptim::SolverState< P >::constraintViolation_ [protected]

Current constraint violation.

The solver may not provide the constraint violation at each iteration, hence the use of boost::optional.

template<typename P>

boost::optional<value_type> roboptim::SolverState< P >::cost_ [protected]

Current cost.

The solver may not provide the cost at each iteration, hence the use of boost::optional.

template<typename P>

parameters_t roboptim::SolverState< P >::parameters_ [protected]

Solver state extra parameters (solver-specific parameters etc.).

template<typename P>

argument_t roboptim::SolverState< P >::x_ [protected]

Current optimization parameters.

Referenced by roboptim::SolverState< P >::SolverState().