Generic edge for functions $\mathbb{R}^n \to \mathbb{R}^D$ . More...

#include <generic_edge.h>

Inheritance diagram for corbo::EdgeGenericVectorFun< D, VerticesT >:

Public Types
using	ErrorVector = Eigen::Matrix< double, D, 1 >

using	ExtFunT = std::function< void(const VertexContainer &, Eigen::Ref< ErrorVector >)>

using	ExtJacobT = std::function< void(const VertexContainer &, int, Eigen::Ref< Eigen::MatrixXd >, const double *)>

using	Ptr = std::shared_ptr< EdgeGenericVectorFun >

using	UPtr = std::unique_ptr< EdgeGenericVectorFun >

Public Types inherited from corbo::Edge< VerticesT... >
using	ConstPtr = std::shared_ptr< const Edge >

using	Ptr = std::shared_ptr< Edge >

using	UPtr = std::unique_ptr< Edge >

using	VertexContainer = std::array< VertexInterface *, numVerticesCompileTime >
	Typedef to represent the vertex container. More...

Public Types inherited from corbo::BaseEdge
using	Ptr = std::shared_ptr< BaseEdge >

using	UPtr = std::unique_ptr< BaseEdge >

Public Types inherited from corbo::EdgeInterface
using	Ptr = std::shared_ptr< EdgeInterface >

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multiplier) override
	Compute edge block jacobian for a given vertex. More...

void	computeValues (Eigen::Ref< Eigen::VectorXd > values) override
	Compute function values. More...

	EdgeGenericVectorFun (const ExtFunT &fun, bool lsq_form, VerticesT &... vertices)
	Construct generic vector function edge by passing the dimension D, the function object and all vertices. More...

	EdgeGenericVectorFun (const ExtFunT &fun, const ExtJacobT &jacobian, bool lsq_form, VerticesT &... vertices)
	Construct generic vector function edge by passing the dimension D, the function object, a jacobian and all vertices. More...

int	getDimension () const override
	Get dimension of the edge (dimension of the cost-function/constraint value vector) More...

bool	isLeastSquaresForm () const override
	Defines if the edge is formulated as Least-Squares form. More...

bool	isLinear () const override
	Return true if the edge is linear (and hence its Hessian is always zero) More...

bool	providesJacobian () const override
	Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten) More...

void	setLinear (bool linear)

Public Member Functions inherited from corbo::Edge< VerticesT... >
	Edge ()=delete

	Edge (VerticesT &... args)
	Construct edge by providing connected vertices. More...

int	getNumVertices () const override
	Return number of attached vertices. More...

const VertexInterface *	getVertex (int idx) const override

VertexInterface *	getVertexRaw (int idx) override
	Get access to vertex with index `idx` (0 <= idx < numVertices) More...

bool	providesJacobian () const override
	Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten) More...

int	verticesDimension () const override
	Return the combined dimension of all attached vertices (excluding fixed vertex components) More...

Public Member Functions inherited from corbo::BaseEdge
virtual void	computeHessian (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &block_jacobian_i, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &block_jacobian_i, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)
	Compute edge block Hessian for a given vertex pair. More...

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

int	getEdgeIdx () const
	Retrieve current edge index (warning, this value is determined within the related HyperGraph) More...

virtual bool	providesHessian () const
	Return true if a custom Hessian is provided (e.g. computeHessian() is overwritten) More...

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_value_vectors)

void	reserveJacobiansCacheMemory (int num_jacobians)

void	computeValuesCached ()
	Call computeValues() and store result to previously allocated internal cache (call allocateInteralValuesCache() first once) More...

void	computeSquaredNormOfValuesCached ()
	compute the specialied squared-norm method for computing the values (note only the first element in the values cache is used) More...

EdgeCache &	getCache ()
	Retreive values computed previously via computeValuesCached() More...

const EdgeCache &	getCache () const

Public Member Functions inherited from corbo::EdgeInterface
virtual double	computeSquaredNormOfValues ()

virtual double	computeSumOfValues ()

int	getNumFiniteVerticesLowerBounds () const

int	getNumFiniteVerticesUpperBounds () const

virtual	~EdgeInterface ()
	Virtual destructor. More...

Protected Attributes
ExtFunT	_fun
	Store the external function or functor. More...

ExtJacobT	_jacob

bool	_linear = false

bool	_lsq_form

Protected Attributes inherited from corbo::Edge< VerticesT... >
const VertexContainer	_vertices
	Vertex container. More...

Protected Attributes inherited from corbo::BaseEdge
EdgeCache	_cache

int	_edge_idx = 0

Additional Inherited Members
Static Public Attributes inherited from corbo::Edge< VerticesT... >
static constexpr const int	numVerticesCompileTime
	Return number of vertices at compile-time. More...

Detailed Description

template<int D, class... VerticesT>
class corbo::EdgeGenericVectorFun< D, VerticesT >

Generic edge for functions $\mathbb{R}^n \to \mathbb{R}^D$ .

This edge can be used for passing a generic function (e.g. a lambda) to the optimization problem. Jacobians and Hessians are calculated numerically if necessary.

This edge should be only used for Rapid-Prototyping puroposes, due to the computational overhead that rises from copying and calling the external function resp. functor.

You can pass a function that accepts a EdgeGenericScalarFun::VertexContainer as argument. Each vertex stored in that container corresponds to the vertex passed using the class constructor (in the same order). The corresponding Vertex types are specified as template arguments of this class as well.

The return type of the vector valued external function should be a Eigen::Matrix<double,D,1> type.

See also: EdgeGenericScalarFun BaseEdge

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 150 of file generic_edge.h.

Member Typedef Documentation

◆ ErrorVector

template<int D, class... VerticesT>

using corbo::EdgeGenericVectorFun< D, VerticesT >::ErrorVector = Eigen::Matrix<double, D, 1>

Definition at line 163 of file generic_edge.h.

◆ ExtFunT

template<int D, class... VerticesT>

using corbo::EdgeGenericVectorFun< D, VerticesT >::ExtFunT = std::function<void(const VertexContainer&, Eigen::Ref<ErrorVector>)>

Definition at line 164 of file generic_edge.h.

◆ ExtJacobT

template<int D, class... VerticesT>

using corbo::EdgeGenericVectorFun< D, VerticesT >::ExtJacobT = std::function<void(const VertexContainer&, int, Eigen::Ref<Eigen::MatrixXd>, const double*)>

Definition at line 165 of file generic_edge.h.

◆ Ptr

template<int D, class... VerticesT>

using corbo::EdgeGenericVectorFun< D, VerticesT >::Ptr = std::shared_ptr<EdgeGenericVectorFun>

Definition at line 156 of file generic_edge.h.

◆ UPtr

template<int D, class... VerticesT>

using corbo::EdgeGenericVectorFun< D, VerticesT >::UPtr = std::unique_ptr<EdgeGenericVectorFun>

Definition at line 157 of file generic_edge.h.

Constructor & Destructor Documentation

◆ EdgeGenericVectorFun() [1/2]

template<int D, class... VerticesT>

corbo::EdgeGenericVectorFun< D, VerticesT >::EdgeGenericVectorFun	(	const ExtFunT &	fun,
		bool	lsq_form,
		VerticesT &...	vertices
	)

inline

Construct generic vector function edge by passing the dimension D, the function object and all vertices.

Definition at line 168 of file generic_edge.h.

◆ EdgeGenericVectorFun() [2/2]

template<int D, class... VerticesT>

corbo::EdgeGenericVectorFun< D, VerticesT >::EdgeGenericVectorFun	(	const ExtFunT &	fun,
		const ExtJacobT &	jacobian,
		bool	lsq_form,
		VerticesT &...	vertices
	)

inline

Construct generic vector function edge by passing the dimension D, the function object, a jacobian and all vertices.

Definition at line 173 of file generic_edge.h.

Member Function Documentation

◆ computeJacobian()

template<int D, class... VerticesT>

void corbo::EdgeGenericVectorFun< D, VerticesT >::computeJacobian	(	int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd >	block_jacobian,
		const double *	multipliers
	)

inlineoverridevirtual

Compute edge block jacobian for a given vertex.

This interface class provides a numerical computation of the Jacobian using finite differences. However, a user-defined implementation might be specified by overwriting this method. In that case do not forget to also overwrite providesJacobian().

Parameters

[in]	vtx_idx	Vertex number for which the block jacobian should be computed
[out]	block_jacobian	Resulting block jacobian [dimension() x VertexInterface::dimensionUnfixed()] (must be preallocated)
[in]	multipliers	Scale each value component by an optional multiplier if argument is not null null.

Reimplemented from corbo::BaseEdge.

Definition at line 189 of file generic_edge.h.

◆ computeValues()

template<int D, class... VerticesT>

void corbo::EdgeGenericVectorFun< D, VerticesT >::computeValues ( Eigen::Ref< Eigen::VectorXd > values )

inlineoverridevirtual

Compute function values.

Here, the actual cost/constraint function values are computed:

objective in non-least-squares form: e(x) (hereby, the actual cost is f(x) = e(x)^T e(x))
objective in least-squares form: f(x)
equality constraints: ceq(x) (in case constraints are satisfied: ceq(x) = 0)
inequality constraints: c(x) (in case constraints are satisfied: c(x) < 0)
Parameters

[in] values values should be stored here according to getDimension().

Implements corbo::Edge< VerticesT... >.

Definition at line 187 of file generic_edge.h.

◆ getDimension()

template<int D, class... VerticesT>

int corbo::EdgeGenericVectorFun< D, VerticesT >::getDimension ( ) const

inlineoverridevirtual

Get dimension of the edge (dimension of the cost-function/constraint value vector)

Implements corbo::Edge< VerticesT... >.

Definition at line 178 of file generic_edge.h.

◆ isLeastSquaresForm()

template<int D, class... VerticesT>

bool corbo::EdgeGenericVectorFun< D, VerticesT >::isLeastSquaresForm ( ) const

inlineoverridevirtual

Defines if the edge is formulated as Least-Squares form.

Least-squares cost terms are defined as $ f(x) = e(x)^T e(x) $ and the function values and Jacobian are computed for $ e(x) $ rather than for $ f(x) $ . Specialiezed least-squares solvers require the optimization problem to be defined in this particular form. Other solvers can automatically compute the square of least-squares edges if required. However, the other way round is more restrictive: general solvers might not cope with non-least-squares forms.

Note, in the LS-form case computeValues() computes e(x) and otherwise f(x).

Returns: true if the edge is given in LS-form

Reimplemented from corbo::BaseEdge.

Definition at line 182 of file generic_edge.h.

◆ isLinear()

template<int D, class... VerticesT>

bool corbo::EdgeGenericVectorFun< D, VerticesT >::isLinear ( ) const

inlineoverridevirtual

Return true if the edge is linear (and hence its Hessian is always zero)

Implements corbo::Edge< VerticesT... >.

Definition at line 180 of file generic_edge.h.

◆ providesJacobian()

template<int D, class... VerticesT>

bool corbo::EdgeGenericVectorFun< D, VerticesT >::providesJacobian ( ) const

inlineoverridevirtual

Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten)

Reimplemented from corbo::BaseEdge.

Definition at line 184 of file generic_edge.h.

◆ setLinear()

template<int D, class... VerticesT>

void corbo::EdgeGenericVectorFun< D, VerticesT >::setLinear ( bool linear )

inline

Definition at line 198 of file generic_edge.h.

Member Data Documentation

◆ _fun

template<int D, class... VerticesT>

ExtFunT corbo::EdgeGenericVectorFun< D, VerticesT >::_fun

protected

Store the external function or functor.

Definition at line 201 of file generic_edge.h.

◆ _jacob

template<int D, class... VerticesT>

ExtJacobT corbo::EdgeGenericVectorFun< D, VerticesT >::_jacob

protected

Definition at line 202 of file generic_edge.h.

◆ _linear

template<int D, class... VerticesT>

bool corbo::EdgeGenericVectorFun< D, VerticesT >::_linear = false

protected

Definition at line 204 of file generic_edge.h.

◆ _lsq_form

template<int D, class... VerticesT>

bool corbo::EdgeGenericVectorFun< D, VerticesT >::_lsq_form

protected

Definition at line 203 of file generic_edge.h.

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

generic_edge.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<int D, class... VerticesT> class corbo::EdgeGenericVectorFun< D, VerticesT >

Member Typedef Documentation

◆ ErrorVector

◆ ExtFunT

◆ ExtJacobT

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ EdgeGenericVectorFun() [1/2]

◆ EdgeGenericVectorFun() [2/2]

Member Function Documentation

◆ computeJacobian()

◆ computeValues()

◆ getDimension()

◆ isLeastSquaresForm()

◆ isLinear()

◆ providesJacobian()

◆ setLinear()

Member Data Documentation

◆ _fun

◆ _jacob

◆ _linear

◆ _lsq_form

template<int D, class... VerticesT>
class corbo::EdgeGenericVectorFun< D, VerticesT >