composite.h
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29 
36 #ifndef IFOPT_INCLUDE_OPT_COMPOSITE_H_
37 #define IFOPT_INCLUDE_OPT_COMPOSITE_H_
38 
39 #include <memory>
40 #include <string>
41 #include <vector>
42 
43 #include <Eigen/Dense>
44 #include <Eigen/Sparse>
45 
46 #include "bounds.h"
47 
48 namespace ifopt {
49 
71 class Component {
72 public:
73  using Ptr = std::shared_ptr<Component>;
74 
75  using Jacobian = Eigen::SparseMatrix<double, Eigen::RowMajor>;
76  using VectorXd = Eigen::VectorXd;
77  using VecBound = std::vector<Bounds>;
78 
89  Component(int num_rows, const std::string& name);
90  virtual ~Component() = default;
91 
99  virtual VectorXd GetValues() const = 0;
100 
108  virtual VecBound GetBounds() const = 0;
109 
116  virtual void SetVariables(const VectorXd& x) = 0;
117 
125  virtual Jacobian GetJacobian() const = 0;
126 
130  int GetRows() const;
131 
135  std::string GetName() const;
136 
140  virtual void Print() const;
141 
148  void SetRows(int num_rows);
149  static const int kSpecifyLater = -1;
150 
151 private:
153  std::string name_;
154 };
155 
156 
157 
168 class Composite : public Component {
169 public:
170  using Ptr = std::shared_ptr<Composite>;
171  using ComponentVec = std::vector<Component::Ptr>;
172 
181  Composite(const std::string& name, bool is_cost);
182  virtual ~Composite() = default;
183 
184  // see Component for documentation
185  VectorXd GetValues () const override;
186  Jacobian GetJacobian () const override;
187  VecBound GetBounds () const override;
188  void SetVariables(const VectorXd& x) override;
189  void Print() const override;
190 
196  const Component::Ptr GetComponent(std::string name) const;
197 
204  template<typename T> std::shared_ptr<T>
205  GetComponent(const std::string& name) const;
206 
210  void AddComponent (const Component::Ptr&);
211 
215  void ClearComponents();
216 
220  const ComponentVec GetComponents() const;
221 
222 private:
224  bool is_cost_;
225 };
226 
227 
228 // implementation of template functions
229 template<typename T>
230 std::shared_ptr<T> Composite::GetComponent(const std::string& name) const
231 {
232  Component::Ptr c = GetComponent(name);
233  return std::dynamic_pointer_cast<T>(c);
234 }
235 
236 
237 } /* namespace opt */
238 
239 #endif /* IFOPT_INCLUDE_OPT_COMPOSITE_H_ */
virtual VectorXd GetValues() const =0
Returns the "values" of whatever this component represents.
const Component::Ptr GetComponent(std::string name) const
Access generic component with the specified name.
Definition: composite.cc:87
std::string name_
Definition: composite.h:153
static const int kSpecifyLater
Definition: composite.h:149
Component(int num_rows, const std::string &name)
Creates a component.
Definition: composite.cc:36
std::vector< Component::Ptr > ComponentVec
Definition: composite.h:171
std::string GetName() const
Returns the name (id) of this component.
Definition: composite.cc:55
std::shared_ptr< Component > Ptr
Definition: composite.h:73
virtual void SetVariables(const VectorXd &x)=0
Sets the optimization variables from an Eigen vector.
void SetRows(int num_rows)
Sets the number of rows of this component.
Definition: composite.cc:49
ComponentVec components_
Definition: composite.h:223
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: composite.h:75
virtual Jacobian GetJacobian() const =0
Returns derivatives of each row w.r.t. the variables.
Definition: bounds.h:33
Interface representing either Variable, Cost or Constraint.
Definition: composite.h:71
virtual void Print() const
Prints the relevant information (name, rows, values) of this component.
Definition: composite.cc:181
A collection of components which is treated as another Component.
Definition: composite.h:168
std::vector< Bounds > VecBound
Definition: composite.h:77
int GetRows() const
Returns the number of rows of this component.
Definition: composite.cc:43
virtual ~Component()=default
virtual VecBound GetBounds() const =0
Returns the "bounds" of this component.
Eigen::VectorXd VectorXd
Definition: composite.h:76


ifopt_core
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 20 2018 02:27:34