Define an abstract quadratic function. More...
#include <roboptim/core/quadratic-function.hh>
Public Types | |
typedef GenericTwiceDifferentiableFunction< T > | parent_t |
typedef parent_t::size_type | size_type |
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typedef std::pair< size_type, size_type > | hessianSize_t |
Hessian size type represented as a pair of values. | |
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typedef std::pair< size_type, size_type > | jacobianSize_t |
Jacobian size type (pair of values). | |
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typedef T | traits_t |
Traits type. | |
typedef GenericFunctionTraits< T >::value_type | value_type |
Values type. | |
typedef GenericFunctionTraits< T >::size_type | size_type |
Size type. | |
typedef std::string | name_t |
Type of a function argument name. | |
typedef std::vector< name_t > | names_t |
Type of a vector of function argument names. | |
typedef std::pair< value_type, value_type > | interval_t |
Interval type (lower, upper). | |
typedef std::vector< interval_t > | intervals_t |
Vector of intervals. | |
typedef boost::tuple< value_type, value_type, value_type > | discreteInterval_t |
Types representing a discrete interval. | |
Public Member Functions | |
GenericQuadraticFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) | |
Concrete class constructor should call this constructor. | |
virtual std::ostream & | print (std::ostream &) const |
Display the function on the specified output stream. | |
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ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericDifferentiableFunction< T >) | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (hessian) | |
Hessian type. | |
hessianSize_t | hessianSize () const |
Return the size of a hessian. | |
bool | isValidHessian (const_hessian_ref hessian) const |
Check if the hessian is valid (check sizes). | |
hessian_t | hessian (const_argument_ref argument, size_type functionId=0) const |
Compute the hessian at a given point. | |
void | hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const |
Compute the hessian at a given point. | |
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ROBOPTIM_FUNCTION_FWD_TYPEDEFS_ (GenericFunction< T >) | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (gradient) | |
Gradient type. | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (jacobian) | |
Jacobian type. | |
size_type | gradientSize () const |
Return the gradient size. | |
jacobianSize_t | jacobianSize () const |
Return the jacobian size as a pair. | |
bool | isValidGradient (const_gradient_ref gradient) const |
Check if the gradient is valid (check size). | |
bool | isValidJacobian (const_jacobian_ref jacobian) const |
Check if the jacobian is valid (check sizes). | |
jacobian_t | jacobian (const_argument_ref argument) const |
Computes the jacobian. | |
void | jacobian (jacobian_ref jacobian, const_argument_ref argument) const |
Computes the jacobian. | |
gradient_t | gradient (const_argument_ref argument, size_type functionId=0) const |
Computes the gradient. | |
void | gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0) const |
Computes the gradient. | |
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ROBOPTIM_GENERATE_TRAITS_REFS_ (vector) | |
Basic (column) vector type. | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (rowVector) | |
Row vector type. | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (matrix) | |
Basic matrix type. | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (result) | |
Type of a function evaluation result. | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (argument) | |
Type of a function evaluation argument. | |
bool | isValidResult (const_result_ref result) const |
Check the given result size is valid. | |
GenericFunction< T >::size_type | inputSize () const |
Return the input size (i.e. | |
GenericFunction< T >::size_type | outputSize () const |
Return the output size (i.e. | |
virtual | ~GenericFunction () |
Trivial destructor. | |
result_t | operator() (const_argument_ref argument) const |
Evaluate the function at a specified point. | |
void | operator() (result_ref result, const_argument_ref argument) const |
Evaluate the function at a specified point. | |
const std::string & | getName () const |
Get function name. | |
Additional Inherited Members | |
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static value_type | epsilon () |
Get the value of the machine epsilon, useful for floating types comparison. | |
static value_type | infinity () |
Get the value that symbolizes positive infinity. | |
static interval_t | makeInterval (value_type l, value_type u) |
Construct an interval from a lower and upper bound. | |
static interval_t | makeInfiniteInterval () |
Construct an infinite interval. | |
static interval_t | makeLowerInterval (value_type l) |
Construct an interval from a lower bound. | |
static interval_t | makeUpperInterval (value_type u) |
Construct an interval from an upper bound. | |
static value_type | getLowerBound (const interval_t &interval) |
Get the lower bound of an interval. | |
static value_type | getUpperBound (const interval_t &interval) |
Get the upper bound of an interval. | |
static discreteInterval_t | makeDiscreteInterval (value_type min, value_type max, value_type step) |
Construct a discrete interval. | |
static discreteInterval_t | makeDiscreteInterval (interval_t interval, value_type step) |
Construct a discrete interval. | |
static value_type | getLowerBound (const discreteInterval_t &interval) |
Get the lower bound of a discrete interval. | |
static value_type | getUpperBound (const discreteInterval_t &interval) |
Get the upper bound of a discrete interval. | |
static value_type | getStep (const discreteInterval_t &interval) |
Get the upper step of a discrete interval. | |
template<typename F> | |
static void | foreach (const discreteInterval_t interval, F functor) |
Iterate on an interval. | |
template<typename F> | |
static void | foreach (const interval_t interval, const size_type n, F functor) |
Iterate on an interval. | |
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GenericTwiceDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) | |
Concrete class constructor should call this constructor. | |
virtual void | impl_hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const =0 |
Hessian evaluation. | |
void | setZero (hessian_ref symmetric) const |
Set a symmetric matrix to zero. | |
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GenericDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) | |
Concrete class constructor should call this constructor. | |
virtual void | impl_jacobian (jacobian_ref jacobian, const_argument_ref arg) const |
Jacobian evaluation. | |
virtual void | impl_gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0) const =0 |
Gradient evaluation. | |
void | impl_jacobian (jacobian_ref jacobian, const_argument_ref argument) const |
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GenericFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) | |
Concrete class constructor should call this constructor. | |
virtual void | impl_compute (result_ref result, const_argument_ref argument) const =0 |
Function evaluation. | |
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static log4cxx::LoggerPtr | logger |
Pointer to function logger (see log4cxx documentation). | |
Define an abstract quadratic function.
Inherit from this class when implementing quadratic functions.
typedef GenericTwiceDifferentiableFunction<T> roboptim::GenericQuadraticFunction< T >::parent_t |
typedef parent_t::size_type roboptim::GenericQuadraticFunction< T >::size_type |
roboptim::GenericQuadraticFunction< T >::GenericQuadraticFunction | ( | size_type | inputSize, |
size_type | outputSize = 1, | ||
std::string | name = std::string () ) |
Concrete class constructor should call this constructor.
inputSize | function arity |
outputSize | result size |
name | function's name |
References roboptim::GenericTwiceDifferentiableFunction< T >::GenericTwiceDifferentiableFunction(), roboptim::GenericFunction< T >::inputSize(), and roboptim::GenericFunction< T >::outputSize().
Referenced by roboptim::GenericLinearFunction< T >::GenericLinearFunction(), roboptim::GenericNumericQuadraticFunction< T >::GenericNumericQuadraticFunction(), and roboptim::GenericNumericQuadraticFunction< T >::GenericNumericQuadraticFunction().
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virtual |
Display the function on the specified output stream.
o | output stream used for display |
Reimplemented from roboptim::GenericTwiceDifferentiableFunction< T >.
Reimplemented in roboptim::GenericConstantFunction< T >, roboptim::GenericConstantFunction< EigenMatrixDense >, roboptim::GenericConstantFunction< EigenMatrixDense >, roboptim::GenericIdentityFunction< T >, roboptim::GenericIdentityFunction< EigenMatrixDense >, roboptim::GenericIdentityFunction< EigenMatrixDense >, roboptim::GenericLinearFunction< T >, roboptim::GenericLinearFunction< EigenMatrixDense >, roboptim::GenericLinearFunction< EigenMatrixDense >, roboptim::GenericLinearFunction< EigenMatrixSparse >, roboptim::GenericLinearFunction< EigenMatrixSparse >, roboptim::GenericNumericLinearFunction< T >, roboptim::GenericNumericLinearFunction< EigenMatrixDense >, roboptim::GenericNumericLinearFunction< EigenMatrixDense >, roboptim::GenericNumericQuadraticFunction< T >, roboptim::GenericNumericQuadraticFunction< EigenMatrixDense >, and roboptim::GenericNumericQuadraticFunction< EigenMatrixDense >.
References roboptim::GenericFunction< T >::getName().