Constant function. More...

#include <roboptim/core/function/constant.hh>

Inheritance diagram for roboptim::GenericConstantFunction< T >:

[legend]

Collaboration diagram for roboptim::GenericConstantFunction< T >:

[legend]

Public Member Functions
	ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericLinearFunction< T >)
	GenericConstantFunction (const_vector_ref offset)
	Build a constant function.
	GenericConstantFunction (size_type input_size, const_vector_ref offset)
	Build a constant function.
	~GenericConstantFunction ()
virtual std::ostream &	print (std::ostream &o) const
	Display the function on the specified output stream.
Public Member Functions inherited from roboptim::GenericLinearFunction< T >
	ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericQuadraticFunction< T >)
	GenericLinearFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor.
Public Member Functions inherited from roboptim::GenericQuadraticFunction< T >
	GenericQuadraticFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor.
Public Member Functions inherited from roboptim::GenericTwiceDifferentiableFunction< T >
	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.
Public Member Functions inherited from roboptim::GenericDifferentiableFunction< T >
	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.
Public Member Functions inherited from roboptim::GenericFunction< T >
	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.

Protected Member Functions
void	impl_compute (result_ref result, const_argument_ref) const
	Function evaluation.
void	impl_gradient (gradient_ref gradient, const_argument_ref, size_type=0) const
void	impl_jacobian (jacobian_ref jacobian, const_argument_ref) const
	Jacobian evaluation.
Protected Member Functions inherited from roboptim::GenericLinearFunction< T >
void	impl_hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const
	Hessian evaluation.
Protected Member Functions inherited from roboptim::GenericTwiceDifferentiableFunction< T >
	GenericTwiceDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor.
void	setZero (hessian_ref symmetric) const
	Set a symmetric matrix to zero.
Protected Member Functions inherited from roboptim::GenericDifferentiableFunction< T >
	GenericDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor.
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
Protected Member Functions inherited from roboptim::GenericFunction< T >
	GenericFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string())
	Concrete class constructor should call this constructor.

Additional Inherited Members
Public Types inherited from roboptim::GenericQuadraticFunction< T >
typedef GenericTwiceDifferentiableFunction< T >	parent_t
typedef parent_t::size_type	size_type
Public Types inherited from roboptim::GenericTwiceDifferentiableFunction< T >
typedef std::pair< size_type, size_type >	hessianSize_t
	Hessian size type represented as a pair of values.
Public Types inherited from roboptim::GenericDifferentiableFunction< T >
typedef std::pair< size_type, size_type >	jacobianSize_t
	Jacobian size type (pair of values).
Public Types inherited from roboptim::GenericFunction< T >
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.
Static Public Member Functions inherited from roboptim::GenericFunction< T >
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.
Static Protected Attributes inherited from roboptim::GenericFunction< T >
static log4cxx::LoggerPtr	logger
	Pointer to function logger (see log4cxx documentation).

Detailed Description

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

Constant function.

Implement a constant function using the formula:

$\‍[f(x) = offset\‍]$

where $offset$ is set when the class is instantiated.

Constructor & Destructor Documentation

◆ GenericConstantFunction() [1/2]

template<typename T>

roboptim::GenericConstantFunction< T >::GenericConstantFunction ( const_vector_ref offset )

inline

Build a constant function.

Parameters

offset constant function offset

◆ GenericConstantFunction() [2/2]

template<typename T>

roboptim::GenericConstantFunction< T >::GenericConstantFunction	(	size_type	input_size,
		const_vector_ref	offset )

inline

Build a constant function.

Parameters

input_size	input size of the function
offset	constant function offset

◆ ~GenericConstantFunction()

template<typename T>

roboptim::GenericConstantFunction< T >::~GenericConstantFunction ( )

inline

Member Function Documentation

◆ impl_compute()

template<typename T>

void roboptim::GenericConstantFunction< T >::impl_compute	(	result_ref	result,
		const_argument_ref	argument ) const

inlineprotectedvirtual

Function evaluation.

Evaluate the function, has to be implemented in concrete classes.

Warning: Do not call this function directly, call operator()(result_ref, const_argument_ref) const instead.

Parameters

result	result will be stored in this vector
argument	point at which the function will be evaluated

Implements roboptim::GenericFunction< T >.

◆ impl_gradient()

template<typename T>

void roboptim::GenericConstantFunction< T >::impl_gradient	(	gradient_ref	gradient,
		const_argument_ref	,
		size_type	= 0 ) const

inlineprotected

◆ impl_jacobian()

template<typename T>

void roboptim::GenericConstantFunction< T >::impl_jacobian	(	jacobian_ref	jacobian,
		const_argument_ref	arg ) const

inlineprotectedvirtual

Jacobian evaluation.

Computes the jacobian, can be overridden by concrete classes. The default behavior is to compute the jacobian from the gradient.

Warning: Do not call this function directly, call jacobian instead.

Parameters

jacobian	jacobian will be store in this argument
arg	point where the jacobian will be computed

Reimplemented from roboptim::GenericDifferentiableFunction< T >.

◆ print()

template<typename T>

virtual std::ostream & roboptim::GenericConstantFunction< T >::print ( std::ostream & o ) const

inlinevirtual

Display the function on the specified output stream.

Parameters

o	output stream used for display

Returns: output stream

Reimplemented from roboptim::GenericLinearFunction< T >.

◆ ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_()

template<typename T>

roboptim::GenericConstantFunction< T >::ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ ( GenericLinearFunction< T > )

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GenericConstantFunction() [1/2]

◆ GenericConstantFunction() [2/2]

◆ ~GenericConstantFunction()

Member Function Documentation

◆ impl_compute()

◆ impl_gradient()

◆ impl_jacobian()

◆ print()

◆ ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_()