leaves.cc
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29 
30 #include <ifopt/variable_set.h>
31 #include <ifopt/constraint_set.h>
32 #include <ifopt/cost_term.h>
33 
34 #include <iostream>
35 #include <iomanip>
36 
37 
38 namespace ifopt {
39 
40 VariableSet::VariableSet(int n_var, const std::string& name)
41  : Component(n_var, name)
42 {
43 }
44 
45 ConstraintSet::ConstraintSet (int row_count, const std::string& name)
46  : Component(row_count, name)
47 {
48 }
49 
52 {
53  Jacobian jacobian(GetRows(), variables_->GetRows());
54 
55  int col = 0;
56  Jacobian jac;
57  std::vector< Eigen::Triplet<double> > triplet_list;
58 
59  for (const auto& vars : variables_->GetComponents()) {
60  int n = vars->GetRows();
61  jac.resize(GetRows(), n);
62 
63  FillJacobianBlock(vars->GetName(), jac);
64  // reserve space for the new elements to reduce memory allocation
65  triplet_list.reserve(triplet_list.size()+jac.nonZeros());
66 
67  // create triplets for the derivative at the correct position in the overall Jacobian
68  for (int k=0; k<jac.outerSize(); ++k)
69  for (Jacobian::InnerIterator it(jac,k); it; ++it)
70  triplet_list.push_back(Eigen::Triplet<double>(it.row(), col+it.col(), it.value()));
71  col += n;
72  }
73 
74  // transform triplet vector into sparse matrix
75  jacobian.setFromTriplets(triplet_list.begin(), triplet_list.end());
76  return jacobian;
77 }
78 
79 void
81 {
82  variables_ = x;
84 }
85 
86 CostTerm::CostTerm (const std::string& name) :ConstraintSet(1, name)
87 {
88 }
89 
91 CostTerm::GetValues() const
92 {
93  VectorXd cost(1);
94  cost(0) = GetCost();
95  return cost;
96 }
97 
99 CostTerm::GetBounds() const
100 {
101  return VecBound(GetRows(), NoBound);
102 }
103 
104 void
105 CostTerm::Print (double tol, int& index) const
106 {
107  // only one scalar cost value
108  double cost = GetValues()(0);
109 
110  std::cout.precision(2);
111  std::cout << std::fixed
112  << std::left
113  << std::setw(30) << GetName()
114  << std::right
115  << std::setw(4) << GetRows()
116  << std::setw(9) << index
117  << std::setfill ('.')
118  << std::setw(7) << index+GetRows()-1
119  << std::setfill (' ')
120  << std::setw(12) << cost
121  << std::endl;
122 }
123 
124 } /* namespace opt */
ifopt::ConstraintSet::VariablesPtr
Composite::Ptr VariablesPtr
Definition: constraint_set.h:108
ifopt::Component::VecBound
std::vector< Bounds > VecBound
Definition: composite.h:69
ifopt::ConstraintSet::FillJacobianBlock
virtual void FillJacobianBlock(std::string var_set, Jacobian &jac_block) const =0
Set individual Jacobians corresponding to each decision variable set.
ifopt::CostTerm::GetBounds
VecBound GetBounds() const final
Returns infinite bounds (e.g. no bounds).
Definition: leaves.cc:126
ifopt::ConstraintSet::LinkWithVariables
void LinkWithVariables(const VariablesPtr &x)
Connects the constraint with the optimization variables.
Definition: leaves.cc:107
constraint_set.h
ifopt::ConstraintSet::variables_
VariablesPtr variables_
Definition: constraint_set.h:169
ifopt::CostTerm::Print
void Print(double tol, int &index) const final
Definition: leaves.cc:132
cost_term.h
ifopt::ConstraintSet::GetJacobian
Jacobian GetJacobian() const final
The matrix of derivatives for these constraints and variables.
Definition: leaves.cc:78
ifopt::ConstraintSet::ConstraintSet
ConstraintSet(int n_constraints, const std::string &name)
Creates constraints on the variables x.
Definition: leaves.cc:72
ifopt::Component::GetName
std::string GetName() const
Returns the name (id) of this component.
Definition: composite.cc:83
variable_set.h
ifopt
common namespace for all elements in this library.
Definition: bounds.h:33
ifopt::ConstraintSet
A container holding a set of related constraints.
Definition: constraint_set.h:78
ifopt::CostTerm::GetValues
VectorXd GetValues() const final
Wrapper function that converts double to Eigen::VectorXd.
Definition: leaves.cc:118
ifopt::CostTerm::CostTerm
CostTerm(const std::string &name)
Definition: leaves.cc:113
ifopt::ConstraintSet::InitVariableDependedQuantities
virtual void InitVariableDependedQuantities(const VariablesPtr &x_init)
Initialize quantities that depend on the optimization variables.
Definition: constraint_set.h:182
ifopt::NoBound
static const Bounds NoBound
Definition: bounds.h:94
ifopt::Component::VectorXd
Eigen::VectorXd VectorXd
Definition: composite.h:68
ifopt::Component::GetRows
int GetRows() const
Returns the number of rows of this component.
Definition: composite.cc:71
ifopt::Component::Jacobian
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: composite.h:67
ifopt::VariableSet::VariableSet
VariableSet(int n_var, const std::string &name)
Creates a set of variables representing a single concept.
Definition: leaves.cc:67
ifopt::CostTerm::GetCost
virtual double GetCost() const =0
Returns the scalar cost term calculated from the variables.


ifopt
Author(s): Alexander W. Winkler
autogenerated on Thu Sep 15 2022 02:14:55