composite.h

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#ifndef IFOPT_INCLUDE_OPT_COMPOSITE_H_
#define IFOPT_INCLUDE_OPT_COMPOSITE_H_

#include <memory>
#include <string>
#include <vector>

#include <Eigen/Dense>
#include <Eigen/Sparse>

#include "bounds.h"

namespace ifopt {

class Component {
public:
  using Ptr  = std::shared_ptr<Component>;

  using Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>;
  using VectorXd = Eigen::VectorXd;
  using VecBound = std::vector<Bounds>;

  Component(int num_rows, const std::string& name);
  virtual ~Component() = default;

  virtual VectorXd GetValues() const = 0;

  virtual VecBound GetBounds() const = 0;

  virtual void SetVariables(const VectorXd& x) = 0;

  virtual Jacobian GetJacobian() const = 0;

  int GetRows() const;

  std::string GetName() const;

  virtual void Print(double tolerance, int& index_start) const;

  void SetRows(int num_rows);
  static const int kSpecifyLater = -1;

private:
  int num_rows_ = kSpecifyLater;
  std::string name_;
};



class Composite : public Component {
public:
  using Ptr = std::shared_ptr<Composite>;
  using ComponentVec = std::vector<Component::Ptr>;

  Composite(const std::string& name, bool is_cost);
  virtual ~Composite() = default;

  // see Component for documentation
  VectorXd GetValues   () const override;
  Jacobian GetJacobian () const override;
  VecBound GetBounds   () const override;
  void SetVariables(const VectorXd& x) override;
  void PrintAll() const;

  const Component::Ptr GetComponent(std::string name) const;

  template<typename T> std::shared_ptr<T>
  GetComponent(const std::string& name) const;

  void AddComponent (const Component::Ptr&);

  void ClearComponents();

  const ComponentVec GetComponents() const;

private:
  ComponentVec components_;
  bool is_cost_;
  // The number of variables for costs/constraint composites (not set for variables).
  // Is initialized the first the GetJacobian() is called.
  mutable size_t n_var = -1; 
};


// implementation of template functions
template<typename T>
std::shared_ptr<T> Composite::GetComponent(const std::string& name) const
{
  Component::Ptr c = GetComponent(name);
  return std::dynamic_pointer_cast<T>(c);
}


} /* namespace opt */

#endif /* IFOPT_INCLUDE_OPT_COMPOSITE_H_ */