Example shows numeric linear function use.
Example shows numeric linear function use.
#include "shared-tests/fixture.hh"
#include <iostream>
BOOST_FIXTURE_TEST_SUITE (core, TestSuiteConfiguration)
BOOST_AUTO_TEST_CASE_TEMPLATE (numeric_linear_function, T, functionTypes_t)
{
boost::shared_ptr<boost::test_tools::output_test_stream>
output = retrievePattern ("numeric-linear-function");
a.coeffRef (0, 0) = 1.2;
a.coeffRef (0, 1) = 3.4;
a.coeffRef (0, 2) = 5.6;
a.coeffRef (0, 3) = 7.8;
b[0] = 1.;
(*output) << f << std::endl;
x[0] = 0.1;
x[1] = 1.2;
x[2] = 2.3;
x[3] = 3.4;
x[4] = 4.5;
(*output) << "f(x) = " << f (x) << std::endl;
(*output) <<
"G(x) = " << f.
gradient (x, 0) << std::endl;
(*output) <<
"J(x) = " << f.
jacobian (x) << std::endl;
(*output) <<
"H(x) = " << f.
hessian (x) << std::endl;
BOOST_CHECK (allclose (numericLinearFunction.
A (),
numericLinearFunctionRebuilt.
A ()));
BOOST_CHECK_EQUAL (numericLinearFunction.
b (), numericLinearFunctionRebuilt.
b ());
std::cout << output->str () << std::endl;
}
BOOST_AUTO_TEST_SUITE_END ()
DummyDifferentiableSparseSolverLastState::parent_t solver_t
Definition: dummy-d-sparse-laststate.cc:29
defined(EIGEN_RUNTIME_NO_MALLOC) && !defined(ROBOPTIM_DO_NOT_CHECK_ALLOCATION)
Definition: alloc.hh:33
jacobian_t jacobian(const_argument_ref argument) const
Computes the jacobian.
Definition: differentiable-function.hh:131
gradient_t gradient(const_argument_ref argument, size_type functionId=0) const
Computes the gradient.
Definition: differentiable-function.hh:172
Tag type for functions using Eigen dense matrices.
Definition: fwd.hh:59
Tag type for functions using Eigen sparse matrices.
Definition: fwd.hh:61
Build a linear function from a vector and a matrix.
Definition: numeric-linear-function.hh:37
const_matrix_ref A() const
Definition: numeric-linear-function.hh:60
const_vector_ref b() const
Definition: numeric-linear-function.hh:65
hessian_t hessian(const_argument_ref argument, size_type functionId=0) const
Compute the hessian at a given point.
Definition: twice-differentiable-function.hh:106
void setZero(hessian_ref symmetric) const
Set a symmetric matrix to zero.
Definition: twice-differentiable-function.hh:176
Define an abstract linear function.
Definition: linear-function.hh:36
Dummy solver which always fails.
Definition: dummy.hh:35