roboptim::Problem< T > Class Template Reference

#include <roboptim/core/problem.hh>

List of all members.

Classes
struct	NoopDeleter
	Custom deleter that does not delete anything.
Public Types
typedef GenericFunction< T >	function_t
	Function type.
typedef boost::mpl::vector < function_t >	constraintsList_t
	Constraints types list.
typedef boost::shared_ptr < function_t >	constraint_t
	Constraint's type.
typedef function_t::value_type	value_type
	Import function's value_type type.
typedef function_t::vector_t	vector_t
	Vector type.
typedef function_t::argument_t	argument_t
	Argument type.
typedef function_t::size_type	size_type
	Size type.
typedef std::vector< constraint_t >	constraints_t
	Constraints are represented as a vector of constraints.
typedef boost::optional < argument_t >	startingPoint_t
	Optional vector defines a starting point.
typedef function_t::interval_t	interval_t
	Interval type (e.g. for bounds).
typedef function_t::intervals_t	intervals_t
	Intervals type.
typedef std::vector< value_type >	scaling_t
	Scaling vector.
typedef scaling_t scales_t	ROBOPTIM_CORE_DEPRECATED
	Scaling vector (deprecated typedef)
typedef function_t::names_t	names_t
	Vector of names (e.g. for arguments).
typedef std::vector< intervals_t >	intervalsVect_t
	Vector of interval vectors.
typedef std::vector< scaling_t >	scalingVect_t
	Vector of scaling vectors.
typedef scalingVect_t scalesVect_t	ROBOPTIM_CORE_DEPRECATED
	Vector of scaling vectors (deprecated typedef).
typedef GenericFunctionTraits < T >::jacobian_t	jacobian_t
	Jacobian matrix type.
typedef GenericFunctionTraits < T >::const_argument_ref	const_argument_ref
	Constant reference to an argument vector.
Public Member Functions
std::ostream &	print (std::ostream &o) const
	Display the problem on the specified output stream.
template<>
Problem< EigenMatrixSparse > ::jacobian_t	jacobian (const_argument_ref x) const
Constructors and destructors.
	Problem (const boost::shared_ptr< const function_t > &cost)
	Constructor taking a shared_ptr to a cost function.
	Problem (const function_t &cost) ROBOPTIM_CORE_DEPRECATED
	Deprecated constructor taking a reference to a cost function.
	Problem (const Problem< T > &pb)
	Copy constructor.
virtual	~Problem ()
	Virtual destructor.
Cost function.
const function_t &	function () const
	Retrieve cost function.
intervals_t &	argumentBounds ()
	Retrieve arguments bounds.
const intervals_t &	argumentBounds () const
	Retrieve arguments bounds.
scaling_t &	argumentScaling ()
	Retrieve arguments scaling.
const scaling_t &	argumentScaling () const
	Retrieve arguments scaling.
scales_t &	argumentScales () ROBOPTIM_CORE_DEPRECATED
	Retrieve arguments scaling (deprecated version).
const scales_t &	argumentScales () const ROBOPTIM_CORE_DEPRECATED
	Retrieve arguments scaling (deprecated version).
names_t &	argumentNames ()
	Retrieve arguments names.
const names_t &	argumentNames () const
	Retrieve arguments names.
Constraints.
const constraints_t &	constraints () const
	Retrieve constraints.
void	addConstraint (boost::shared_ptr< function_t > constraint, interval_t interval, value_type scale=1.)
	Add a constraint to the problem.
void	addConstraint (boost::shared_ptr< function_t > constraint, intervals_t intervals, scaling_t scaling)
	Add a constraint to the problem.
const intervalsVect_t &	boundsVector () const
	Retrieve constraints bounds vector.
const scalingVect_t &	scalingVector () const
	Retrieve constraints scaling vector.
const scalesVect_t &	scalesVector () const ROBOPTIM_CORE_DEPRECATED
	Retrieve constraints scaling vector (deprecated version).
size_type	constraintsOutputSize () const
	Return the output size of the problem's constraints.
size_type	differentiableConstraintsOutputSize () const
	Return the output size of the problem's differentiable constraints.
void	clearConstraints ()
	Clear the constraints from the problem.
Starting point (initial guess).
startingPoint_t &	startingPoint ()
	Set the initial guess.
const startingPoint_t &	startingPoint () const
	Get the initial guess.
Helper methods.
jacobian_t	jacobian (const_argument_ref x) const
	Evaluate the Jacobian matrix of the problem for a given x.

---

Detailed Description

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

Examples:

problem-cc.cc.

---

Member Typedef Documentation

template<typename T>

typedef function_t::argument_t roboptim::Problem< T >::argument_t

Argument type.

template<typename T>

typedef GenericFunctionTraits<T>::const_argument_ref roboptim::Problem< T >::const_argument_ref

Constant reference to an argument vector.

template<typename T>

typedef boost::shared_ptr<function_t> roboptim::Problem< T >::constraint_t

Constraint's type.

template<typename T>

typedef std::vector<constraint_t> roboptim::Problem< T >::constraints_t

Constraints are represented as a vector of constraints.

template<typename T>

typedef boost::mpl::vector<function_t> roboptim::Problem< T >::constraintsList_t

Constraints types list.

template<typename T>

typedef GenericFunction<T> roboptim::Problem< T >::function_t

Function type.

This has to be either Function or one of its sub-classes.

template<typename T>

typedef function_t::interval_t roboptim::Problem< T >::interval_t

Interval type (e.g. for bounds).

template<typename T>

typedef function_t::intervals_t roboptim::Problem< T >::intervals_t

Intervals type.

template<typename T>

typedef std::vector<intervals_t> roboptim::Problem< T >::intervalsVect_t

Vector of interval vectors.

This type is used to take into account the fact that constraints can have output values in \(\mathbb{C}^{m}\).

If \(m=1\), then the associated interval vector contains only one element of interval_t type.

template<typename T>

typedef GenericFunctionTraits<T>::jacobian_t roboptim::Problem< T >::jacobian_t

Jacobian matrix type.

template<typename T>

typedef function_t::names_t roboptim::Problem< T >::names_t

Vector of names (e.g. for arguments).

template<typename T>

typedef scaling_t scales_t roboptim::Problem< T >::ROBOPTIM_CORE_DEPRECATED

Scaling vector (deprecated typedef)

template<typename T>

typedef scalingVect_t scalesVect_t roboptim::Problem< T >::ROBOPTIM_CORE_DEPRECATED

Vector of scaling vectors (deprecated typedef).

template<typename T>

typedef std::vector<value_type> roboptim::Problem< T >::scaling_t

Scaling vector.

template<typename T>

typedef std::vector<scaling_t> roboptim::Problem< T >::scalingVect_t

Vector of scaling vectors.

This type is used to take into account the fact that constraints can have output values in \(\mathbb{R}^m\).

If \(m=1\), then the associated scaling vector contains only one element of scaling_t type.

template<typename T>

typedef function_t::size_type roboptim::Problem< T >::size_type

Size type.

template<typename T>

typedef boost::optional<argument_t> roboptim::Problem< T >::startingPoint_t

Optional vector defines a starting point.

template<typename T>

typedef function_t::value_type roboptim::Problem< T >::value_type

Import function's value_type type.

template<typename T>

typedef function_t::vector_t roboptim::Problem< T >::vector_t

Vector type.

---

Constructor & Destructor Documentation

template<typename T >

roboptim::Problem< T >::Problem

(

const boost::shared_ptr< const function_t > &

cost

)

[explicit]

Constructor taking a shared_ptr to a cost function.

Precondition:

costfunction \(\mathbb{R}^n \rightarrow \mathbb{R}\)

Parameters:

cost	cost function.

template<typename T >

roboptim::Problem< T >::Problem

(

const function_t &

cost

)

[explicit]

Deprecated constructor taking a reference to a cost function.

This legacy version meant that we simply kept a const reference to the cost function, which could reference stack variables... This prepares the transition to something safer (shared_ptr).

Parameters:

cost	cost function.

template<typename T>

roboptim::Problem< T >::Problem

(

const Problem< T > &

pb

)

[explicit]

Copy constructor.

Parameters:

pb	problem to copy.

template<typename T >

roboptim::Problem< T >::~Problem

(

)

[virtual]

Virtual destructor.

One may want to inherit from Problem to provide extra information to a solver plugin.

---

Member Function Documentation

template<typename T >

void roboptim::Problem< T >::addConstraint	(	boost::shared_ptr< function_t >	constraint,
		interval_t	interval,
		value_type	scale = 1.
	)

Add a constraint to the problem.

Useful only when \(m=1\), use addConstraint (boost::shared_ptr<C> constraint, intervals_t intervals, scaling_t scaling) instead.

Parameters:

constraint	the constraint that will be added
interval	interval in which the constraint is satisfied
scale	constraint scale

Exceptions:

std::runtime_error

template<typename T >

void roboptim::Problem< T >::addConstraint	(	boost::shared_ptr< function_t >	constraint,
		intervals_t	intervals,
		scaling_t	scaling
	)

Add a constraint to the problem.

The constraint can be multidimensional.

Parameters:

constraint	the constraint that will be added
intervals	interval vector in which the constraint is satisfied
scaling	constraint scaling

Exceptions:

std::runtime_error

References ROBOPTIM_DEBUG_ONLY.

template<typename T >

Problem< T >::intervals_t & roboptim::Problem< T >::argumentBounds

(

)

Retrieve arguments bounds.

Arguments bounds define in which interval each argument is valid.

Returns:

arguments bounds

template<typename T >

const Problem< T >::intervals_t & roboptim::Problem< T >::argumentBounds

(

)

const

Retrieve arguments bounds.

Arguments bounds define in which interval each argument is valid.

Returns:

arguments bounds

template<typename T >

Problem< T >::names_t & roboptim::Problem< T >::argumentNames

(

)

Retrieve arguments names.

Arguments names define a name for each argument. This is particularly useful when logging data.

Returns:

arguments names

template<typename T >

const Problem< T >::names_t & roboptim::Problem< T >::argumentNames

(

)

const

Retrieve arguments names.

Arguments names define a name for each argument. This is particularly useful when logging data.

Returns:

arguments names

template<typename T >

Problem< T >::scales_t & roboptim::Problem< T >::argumentScales

(

)

Retrieve arguments scaling (deprecated version).

template<typename T >

const Problem< T >::scales_t & roboptim::Problem< T >::argumentScales

(

)

const

Retrieve arguments scaling (deprecated version).

template<typename T >

Problem< T >::scaling_t & roboptim::Problem< T >::argumentScaling

(

)

Retrieve arguments scaling.

Arguments scaling define which scale factor is applied for each argument.

Returns:

arguments scaling

template<typename T >

const Problem< T >::scaling_t & roboptim::Problem< T >::argumentScaling

(

)

const

Retrieve arguments scaling.

Arguments scaling define which scale factor is applied for each argument.

Returns:

arguments scaling

template<typename T >

const Problem< T >::intervalsVect_t & roboptim::Problem< T >::boundsVector

(

)

const

Retrieve constraints bounds vector.

Returns:

constraints bounds vector

template<typename T >

void roboptim::Problem< T >::clearConstraints

(

)

Clear the constraints from the problem.

template<typename T >

const Problem< T >::constraints_t & roboptim::Problem< T >::constraints

(

)

const

Retrieve constraints.

Returns:

constraints

template<typename T >

Problem< T >::size_type roboptim::Problem< T >::constraintsOutputSize

(

)

const

Return the output size of the problem's constraints.

template<typename T >

Problem< T >::size_type roboptim::Problem< T >::differentiableConstraintsOutputSize

(

)

const

Return the output size of the problem's differentiable constraints.

template<typename T >

const Problem< T >::function_t & roboptim::Problem< T >::function

(

)

const

Retrieve cost function.

Returns:

cost function

template<typename T >

Problem< T >::jacobian_t roboptim::Problem< T >::jacobian

(

const_argument_ref

x

)

const

Evaluate the Jacobian matrix of the problem for a given x.

Note: this is a helper method, and is not supposed to be used in any critical loop.

Parameters:

x	evaluation point.

Returns:

jacobian matrix evaluated at x.

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

template<>

Problem< EigenMatrixSparse >::jacobian_t roboptim::Problem< EigenMatrixSparse >::jacobian

(

const_argument_ref

x

)

const [inline]

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

template<typename T >

std::ostream & roboptim::Problem< T >::print

(

std::ostream &

o

)

const

Display the problem on the specified output stream.

Parameters:

o	output stream used for display

Returns:

output stream

References roboptim::decindent(), roboptim::fg::fail(), roboptim::iendl(), roboptim::incendl(), roboptim::fg::ok(), roboptim::fg::reset(), and roboptim::fg::warn().

template<typename T >

const Problem< T >::scalesVect_t & roboptim::Problem< T >::scalesVector

(

)

const

Retrieve constraints scaling vector (deprecated version).

template<typename T >

const Problem< T >::scalingVect_t & roboptim::Problem< T >::scalingVector

(

)

const

Retrieve constraints scaling vector.

Returns:

constraints scaling vector

template<typename T >

Problem< T >::startingPoint_t & roboptim::Problem< T >::startingPoint

(

)

Set the initial guess.

Returns:

reference on the initial guess

Exceptions:

std::runtime_error

template<typename T >

const Problem< T >::startingPoint_t & roboptim::Problem< T >::startingPoint

(

)

const

Get the initial guess.

Returns:

reference on the initial guess

Exceptions:

std::runtime_error