roboptim::NTimesDerivableFunction< 2 > Class Referenceabstract

Explicit specialization for the stop case of NTimesDerivable class. More...

#include <roboptim/core/n-times-derivable-function.hh>

Inheritance diagram for roboptim::NTimesDerivableFunction< 2 >:
Collaboration diagram for roboptim::NTimesDerivableFunction< 2 >:

Public Types

typedef TwiceDifferentiableFunction parent_t
 Parent type. More...
 
typedef parent_t::traits_t traits_t
 Traits type. More...
 
- 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. More...
 

Public Member Functions

 ROBOPTIM_GENERATE_TRAITS_REFS_T (derivative, traits_t)
 Derivative type. More...
 
virtual size_type derivabilityOrderMax () const
 Returns the maximum derivability order (relevant for N>2 only) More...
 
virtual ~NTimesDerivableFunction ()
 
size_type derivativeSize () const
 Return the size of the derivative vector. More...
 
bool isValidDerivative (const_derivative_ref derivative) const
 Check if a derivative is valid (check sizes). More...
 
result_t operator() (value_type argument) const
 Evaluate the function at a specified point. More...
 
void operator() (result_ref result, value_type argument) const
 Evaluate the function at a specified point. More...
 
derivative_t derivative (value_type argument, size_type order=1) const
 Compute the derivative of the function. More...
 
void derivative (derivative_ref derivative, value_type argument, size_type order=1) const
 Compute the derivative of the function. More...
 
virtual std::ostream & print (std::ostream &o) const
 Display the function on the specified output stream. More...
 
- Public Member Functions inherited from roboptim::GenericTwiceDifferentiableFunction< T >
 ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericDifferentiableFunction< T >)
 
 ROBOPTIM_GENERATE_TRAITS_REFS_ (hessian)
 Hessian type. More...
 
hessianSize_t hessianSize () const
 Return the size of a hessian. More...
 
bool isValidHessian (const_hessian_ref hessian) const
 Check if the hessian is valid (check sizes). More...
 
hessian_t hessian (const_argument_ref argument, size_type functionId=0) const
 Compute the hessian at a given point. More...
 
void hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const
 Compute the hessian at a given point. More...
 

Static Public Attributes

static const size_type derivabilityOrder = 2
 Function derivability order. More...
 

Protected Member Functions

 NTimesDerivableFunction (size_type outputSize=1, std::string name=std::string())
 Concrete class constructor should call this constructor. More...
 
void impl_compute (result_ref result, const_argument_ref argument) const
 Function evaluation. More...
 
virtual void impl_compute (result_ref result, value_type t) const =0
 Function evaluation. More...
 
void impl_gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0) const
 Gradient evaluation. More...
 
virtual void impl_derivative (derivative_ref derivative, value_type argument, size_type order=1) const =0
 Derivative evaluation. More...
 
void impl_hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const
 Hessian evaluation. More...
 
- 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. More...
 
void setZero (hessian_ref symmetric) const
 Set a symmetric matrix to zero. More...
 

Detailed Description

Explicit specialization for the stop case of NTimesDerivable class.

This specialization defines the interface of a `‘n times derivable function’' and implements generic methods required by upper classes using this class specific interface.

Member Typedef Documentation

◆ parent_t

◆ traits_t

typedef parent_t::traits_t roboptim::NTimesDerivableFunction< 2 >::traits_t

Traits type.

Constructor & Destructor Documentation

◆ ~NTimesDerivableFunction()

◆ NTimesDerivableFunction()

roboptim::NTimesDerivableFunction< 2 >::NTimesDerivableFunction ( size_type  outputSize = 1,
std::string  name = std::string () 
)
inlineprotected

Concrete class constructor should call this constructor.

Parameters
outputSizeoutput size (result size)
namefunction's name

Member Function Documentation

◆ derivabilityOrderMax()

virtual size_type roboptim::NTimesDerivableFunction< 2 >::derivabilityOrderMax ( ) const
inlinevirtual

Returns the maximum derivability order (relevant for N>2 only)

◆ derivative() [1/2]

void roboptim::NTimesDerivableFunction< 2 >::derivative ( derivative_ref  derivative,
value_type  argument,
size_type  order = 1 
) const
inline

Compute the derivative of the function.

Derivative is computed for a certain order, at a given point.

Parameters
derivativederivative will be stored in this vector
argumentpoint at which the derivative will be computed
orderderivative order (if 0 then function is evaluated)

References roboptim::NTimesDerivableFunction< DerivabilityOrder >::derivabilityOrderMax(), and roboptim::derivative().

◆ derivative() [2/2]

derivative_t roboptim::NTimesDerivableFunction< 2 >::derivative ( value_type  argument,
size_type  order = 1 
) const
inline

Compute the derivative of the function.

Derivative is computed for a certain order, at a given point.

Parameters
argumentpoint at which the derivative will be computed
orderderivative order (if 0 then function is evaluated)
Returns
derivative vector

References roboptim::derivative().

◆ derivativeSize()

size_type roboptim::NTimesDerivableFunction< 2 >::derivativeSize ( ) const
inline

Return the size of the derivative vector.

Returns
derivative vector size

◆ impl_compute() [1/2]

void roboptim::NTimesDerivableFunction< 2 >::impl_compute ( result_ref  result,
const_argument_ref  argument 
) const
inlineprotected

Function evaluation.

Implement generic function evaluation, as required by Function, using this class evaluation method (using a double instead of a vector).

Warning
Do not call this function directly, call #operator()(result_ref, const_argument_ref) const instead.
Parameters
resultresult will be stored in this vector
argumentpoint at which the function will be evaluated

◆ impl_compute() [2/2]

virtual void roboptim::NTimesDerivableFunction< 2 >::impl_compute ( result_ref  result,
value_type  t 
) const
protectedpure virtual

Function evaluation.

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

Warning
Do not call this function directly, call #operator()(double) const instead.
Parameters
resultresult will be stored in this vector
tpoint at which the function will be evaluated

◆ impl_derivative()

virtual void roboptim::NTimesDerivableFunction< 2 >::impl_derivative ( derivative_ref  derivative,
value_type  argument,
size_type  order = 1 
) const
protectedpure virtual

Derivative evaluation.

Compute the derivative, has to be implemented in concrete classes.

Warning
Do not call this function directly, call derivative instead.
Parameters
derivativederivative will be store in this argument
argumentpoint where the gradient will be computed
orderderivative order (if 0 evaluates the function)

◆ impl_gradient()

void roboptim::NTimesDerivableFunction< 2 >::impl_gradient ( gradient_ref  gradient,
const_argument_ref  argument,
size_type  functionId = 0 
) const
inlineprotected

Gradient evaluation.

Implement the gradient computation, as required by DerivableFunction. The gradient is computed for a specific sub-function which id is passed through the functionId argument.

Warning
Do not call this function directly, call #gradient or derivative instead.
Parameters
gradientgradient will be store in this argument
argumentpoint where the gradient will be computed
functionIdevaluated function id in the split representation

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

References roboptim::derivative(), roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

◆ impl_hessian()

void roboptim::NTimesDerivableFunction< 2 >::impl_hessian ( hessian_ref  hessian,
const_argument_ref  argument,
size_type  functionId = 0 
) const
inlineprotectedvirtual

Hessian evaluation.

Implement the hessian computation, as required by the TwiceDerivableFunction class using the derivative method. The hessian is computed for a specific sub-function which id is passed through the functionId argument.

Warning
Do not call this function directly, call hessian instead.
Parameters
hessianhessian will be stored here
argumentpoint where the hessian will be computed
functionIdevaluated function id in the split representation

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

Implements roboptim::GenericTwiceDifferentiableFunction< T >.

References roboptim::derivative(), roboptim::is_malloc_allowed(), and roboptim::set_is_malloc_allowed().

◆ isValidDerivative()

bool roboptim::NTimesDerivableFunction< 2 >::isValidDerivative ( const_derivative_ref  derivative) const
inline

Check if a derivative is valid (check sizes).

Parameters
derivativederivative vector to be checked
Returns
true if valid, false if not

References roboptim::derivative().

◆ operator()() [1/2]

void roboptim::NTimesDerivableFunction< 2 >::operator() ( result_ref  result,
value_type  argument 
) const
inline

Evaluate the function at a specified point.

The program will abort if the argument does not have the expected size.

Parameters
resultresult will be stored in this vector
argumentpoint at which the function will be evaluated
Returns
computed result

◆ operator()() [2/2]

result_t roboptim::NTimesDerivableFunction< 2 >::operator() ( value_type  argument) const
inline

Evaluate the function at a specified point.

The program will abort if the argument does not have the expected size.

Parameters
argumentpoint at which the function will be evaluated
Returns
computed result

◆ print()

virtual std::ostream& roboptim::NTimesDerivableFunction< 2 >::print ( std::ostream &  o) const
inlinevirtual

Display the function on the specified output stream.

Parameters
ooutput stream used for display
Returns
output stream

Reimplemented from roboptim::GenericTwiceDifferentiableFunction< T >.

References roboptim::NTimesDerivableFunction< DerivabilityOrder >::derivabilityOrderMax().

◆ ROBOPTIM_GENERATE_TRAITS_REFS_T()

roboptim::NTimesDerivableFunction< 2 >::ROBOPTIM_GENERATE_TRAITS_REFS_T ( derivative  ,
traits_t   
)

Derivative type.

Derivatives are column vectors.

Member Data Documentation

◆ derivabilityOrder

const size_type roboptim::NTimesDerivableFunction< 2 >::derivabilityOrder = 2
static

Function derivability order.

One static const variable per class in inheritance structure.