ifopt::Component Class Reference

Interface representing either Variable, Cost or Constraint. More...

#include <composite.h>

Inheritance diagram for ifopt::Component:

Public Types
using	Jacobian = Eigen::SparseMatrix< double, Eigen::RowMajor >
using	Ptr = std::shared_ptr< Component >
using	VecBound = std::vector< Bounds >
using	VectorXd = Eigen::VectorXd

Public Member Functions
	Component (int num_rows, const std::string &name)
	Creates a component. More...
virtual VecBound	GetBounds () const =0
	Returns the "bounds" of this component. More...
virtual Jacobian	GetJacobian () const =0
	Returns derivatives of each row w.r.t. the variables. More...
std::string	GetName () const
	Returns the name (id) of this component. More...
int	GetRows () const
	Returns the number of rows of this component. More...
virtual VectorXd	GetValues () const =0
	Returns the "values" of whatever this component represents. More...
virtual void	Print (double tolerance, int &index_start) const
	Prints the relevant information (name, rows, values) of this component. More...
void	SetRows (int num_rows)
	Sets the number of rows of this component. More...
virtual void	SetVariables (const VectorXd &x)=0
	Sets the optimization variables from an Eigen vector. More...
virtual	~Component ()=default

Static Public Attributes
static const int	kSpecifyLater = -1

Private Attributes
std::string	name_
int	num_rows_ = kSpecifyLater

Detailed Description

Interface representing either Variable, Cost or Constraint.

Variables, costs and constraints can all be fit into the same interface (Component). For example, each has a "value", which is either the actual value of the variables, the constraint value g or the cost. This representation provides one common interface ("smallest common denominator") that can be contain either individual variables/costs/constraints or a Composite of these. This pattern takes care of stacking variables, ordering Jacobians and providing bounds for the complete problem without duplicating code. For more information on the composite pattern visit https://sourcemaking.com/design_patterns/composite

Definition at line 63 of file composite.h.

Member Typedef Documentation

using ifopt::Component::Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>

Definition at line 67 of file composite.h.

using ifopt::Component::Ptr = std::shared_ptr<Component>

Definition at line 65 of file composite.h.

using ifopt::Component::VecBound = std::vector<Bounds>

Definition at line 69 of file composite.h.

using ifopt::Component::VectorXd = Eigen::VectorXd

Definition at line 68 of file composite.h.

Constructor & Destructor Documentation

ifopt::Component::Component	(	int	num_rows,
		const std::string &	name
	)

Creates a component.

Parameters

num_rows	The number of rows of this components.
name	The identifier for this component.

The number of rows num_rows can represent either

• number of variables in this variables set
• number of constraints in this constraint set
• 1 if this component represents a Cost.

Definition at line 37 of file composite.cc.

virtual ifopt::Component::~Component ( )

virtualdefault

Member Function Documentation

virtual VecBound ifopt::Component::GetBounds ( ) const

pure virtual

Returns the "bounds" of this component.

• For Variable these are the upper and lower variable bound.
• For Constraint this represents the constraint bounds.
• For Cost these done't exists (set to infinity).

Implemented in ifopt::Composite, ifopt::ExConstraint, ifopt::ExVariables, ifopt::CostTerm, and ifopt::ExComponent.

virtual Jacobian ifopt::Component::GetJacobian ( ) const

pure virtual

Returns derivatives of each row w.r.t. the variables.

• For Constraint this is a matrix with one row per constraint.
• For a Cost this is a row vector (gradient transpose).
• Not sensible for Variable.

Implemented in ifopt::Composite, ifopt::ConstraintSet, ifopt::VariableSet, and ifopt::ExComponent.

std::string ifopt::Component::GetName

(

)

const

Returns the name (id) of this component.

Definition at line 56 of file composite.cc.

int ifopt::Component::GetRows

(

)

const

Returns the number of rows of this component.

Definition at line 44 of file composite.cc.

virtual VectorXd ifopt::Component::GetValues ( ) const

pure virtual

Returns the "values" of whatever this component represents.

• For Variable this represents the actual optimization values.
• For Constraint this represents the constraint value g.
• For Cost this represents the cost value.

Implemented in ifopt::Composite, ifopt::ExConstraint, ifopt::ExVariables, ifopt::CostTerm, and ifopt::ExComponent.

void ifopt::Component::Print ( double  tolerance, int &  index_start  ) const

virtual

Prints the relevant information (name, rows, values) of this component.

Parameters

tolerance	When to flag constraint/bound violation.
index_start	Of this specific variables-, constraint- or cost set.

Reimplemented in ifopt::CostTerm.

Definition at line 61 of file composite.cc.

void ifopt::Component::SetRows

(

int

num_rows

)

Sets the number of rows of this component.

Attention

This should correctly be done through constructor call, only delay this by using kSpecifyLater if you have good reason.

Definition at line 50 of file composite.cc.

virtual void ifopt::Component::SetVariables ( const VectorXd &  x )

pure virtual

Sets the optimization variables from an Eigen vector.

This is only done for Variable, where these are set from the current values of the solvers.

Implemented in ifopt::Composite, ifopt::ConstraintSet, ifopt::ExVariables, and ifopt::ExComponent.

Member Data Documentation

const int ifopt::Component::kSpecifyLater = -1

static

Definition at line 143 of file composite.h.

std::string ifopt::Component::name_

private

Definition at line 147 of file composite.h.

int ifopt::Component::num_rows_ = kSpecifyLater

private

Definition at line 146 of file composite.h.

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The documentation for this class was generated from the following files:

• composite.h
• composite.cc