corbo::EdgeInterface Class Reference

Generic interface class for edges. More...

#include <edge_interface.h>

Inheritance diagram for corbo::EdgeInterface:

Public Types
using	Ptr = std::shared_ptr< EdgeInterface >
using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
virtual double	computeSquaredNormOfValues ()
virtual double	computeSumOfValues ()
virtual void	computeValues (Eigen::Ref< Eigen::VectorXd > values)=0
	Compute function values. More...
virtual int	getDimension () const =0
	Get dimension of the edge (dimension of the cost-function/constraint value vector) More...
int	getNumFiniteVerticesLowerBounds () const
int	getNumFiniteVerticesUpperBounds () const
virtual int	getNumVertices () const =0
	Return number of attached vertices. More...
virtual const VertexInterface *	getVertex (int idx) const =0
virtual VertexInterface *	getVertexRaw (int idx)=0
	Get access to vertex with index idx (0 <= idx < numVertices) More...
virtual int	verticesDimension () const =0
	Return the combined dimension of all attached vertices (excluding fixed vertex components) More...
virtual	~EdgeInterface ()
	Virtual destructor. More...

Friends
class	EdgeSetInterface

Detailed Description

Generic interface class for edges.

This abstract class defines the interface for edges for the HyperGraph. Cost functions and constraints (that depend on vertices) are formulated as multi-edges. Multi-edges can connect an arbitary number of vertices. The resulting graph is called hyper-graph. If the number of vertices attached to a single edge is low, the resulting optimization problem is likely to be sparse.

See also

HyperGraph, VertexInterface, 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 54 of file edge_interface.h.

Member Typedef Documentation

Ptr

using corbo::EdgeInterface::Ptr = std::shared_ptr<EdgeInterface>

Definition at line 59 of file edge_interface.h.

UPtr

using corbo::EdgeInterface::UPtr = std::unique_ptr<EdgeInterface>

Definition at line 60 of file edge_interface.h.

Constructor & Destructor Documentation

~EdgeInterface()

virtual corbo::EdgeInterface::~EdgeInterface ( )

inlinevirtual

Virtual destructor.

Definition at line 63 of file edge_interface.h.

Member Function Documentation

computeSquaredNormOfValues()

virtual double corbo::EdgeInterface::computeSquaredNormOfValues ( )

inlinevirtual

Definition at line 87 of file edge_interface.h.

computeSumOfValues()

virtual double corbo::EdgeInterface::computeSumOfValues ( )

inlinevirtual

Definition at line 80 of file edge_interface.h.

computeValues()

virtual void corbo::EdgeInterface::computeValues ( Eigen::Ref< Eigen::VectorXd >  values )

pure virtual

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().

Implemented in corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, corbo::TernaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumInequalityEdge, corbo::BinaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::CompressedCollocationEdge, corbo::BinaryVectorVertexEdge< T, ComputeMethod >, corbo::LeftSumEqualityEdge, corbo::UnaryScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumCostEdge, corbo::UnaryVectorVertexEdge< T, ComputeMethod >, corbo::TrapezoidalCollocationIntegralInequalityEdge, corbo::TrapezoidalIntegralInequalityEdge, corbo::Edge<>, corbo::TrapezoidalCollocationIntegralEqualityEdge, corbo::TrapezoidalIntegralEqualityEdge, corbo::BaseMixedEdge, corbo::Edge< Vertices >, corbo::Edge< VectorVertex, VectorVertex >, corbo::Edge< VerticesT... >, corbo::Edge< VectorVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex >, corbo::Edge< ScalarVertex >, corbo::Edge< VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< ScalarVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::EdgeGenericVectorFun< D, VerticesT >, corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralEqualityDynamicsEdge, corbo::BaseEdge, corbo::TrapezoidalIntegralCostEdge, corbo::MSVariableDynamicsOnlyEdge, corbo::TrapezoidalCollocationIntegralCostEdge, corbo::L1StabInequalityEdge, corbo::EdgeGenericScalarFun< VerticesT >, corbo::QuadratureCollocationDynamicsOnly, corbo::FDCollocationEdge, corbo::MSDynamicsOnlyEdge, corbo::TrapezoidalCollocationDynamicsOnlyEdge, corbo::L1StabCostEdge, and corbo::TwoScalarEqualEdge.

getDimension()

virtual int corbo::EdgeInterface::getDimension ( ) const

pure virtual

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

Implemented in corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, corbo::TernaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumInequalityEdge, corbo::BinaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::CompressedCollocationEdge, corbo::LeftSumEqualityEdge, corbo::BinaryVectorVertexEdge< T, ComputeMethod >, corbo::UnaryScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumCostEdge, corbo::UnaryVectorVertexEdge< T, ComputeMethod >, corbo::TrapezoidalCollocationIntegralInequalityEdge, corbo::TrapezoidalIntegralInequalityEdge, corbo::Edge<>, corbo::TrapezoidalCollocationIntegralEqualityEdge, corbo::TrapezoidalIntegralEqualityEdge, corbo::BaseMixedEdge, corbo::Edge< Vertices >, corbo::Edge< VectorVertex, VectorVertex >, corbo::Edge< VerticesT... >, corbo::Edge< VectorVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex >, corbo::Edge< ScalarVertex >, corbo::Edge< VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< ScalarVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::EdgeGenericVectorFun< D, VerticesT >, corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralCostEdge, corbo::BaseEdge, corbo::TrapezoidalCollocationIntegralCostEdge, corbo::MSVariableDynamicsOnlyEdge, corbo::L1StabInequalityEdge, corbo::EdgeGenericScalarFun< VerticesT >, corbo::QuadratureCollocationDynamicsOnly, corbo::FDCollocationEdge, corbo::MSDynamicsOnlyEdge, corbo::TrapezoidalCollocationDynamicsOnlyEdge, corbo::L1StabCostEdge, and corbo::TwoScalarEqualEdge.

getNumFiniteVerticesLowerBounds()

int corbo::EdgeInterface::getNumFiniteVerticesLowerBounds

(

)

const

Definition at line 34 of file edge_interface.cpp.

getNumFiniteVerticesUpperBounds()

int corbo::EdgeInterface::getNumFiniteVerticesUpperBounds

(

)

const

Definition at line 44 of file edge_interface.cpp.

getNumVertices()

virtual int corbo::EdgeInterface::getNumVertices ( ) const

pure virtual

Return number of attached vertices.

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::Edge<>, corbo::Edge< Vertices >, corbo::Edge< VectorVertex, VectorVertex >, corbo::Edge< VerticesT... >, corbo::Edge< VectorVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex >, corbo::Edge< ScalarVertex >, corbo::Edge< VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< ScalarVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, and corbo::Edge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >.

getVertex()

virtual const VertexInterface* corbo::EdgeInterface::getVertex ( int  idx ) const

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::Edge<>, corbo::Edge< Vertices >, corbo::Edge< VectorVertex, VectorVertex >, corbo::Edge< VerticesT... >, corbo::Edge< VectorVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex >, corbo::Edge< ScalarVertex >, corbo::Edge< VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< ScalarVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, and corbo::Edge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >.

getVertexRaw()

virtual VertexInterface* corbo::EdgeInterface::getVertexRaw ( int  idx )

pure virtual

Get access to vertex with index idx (0 <= idx < numVertices)

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::Edge<>, corbo::Edge< Vertices >, corbo::Edge< VectorVertex, VectorVertex >, corbo::Edge< VerticesT... >, corbo::Edge< VectorVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex >, corbo::Edge< ScalarVertex >, corbo::Edge< VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< ScalarVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, and corbo::Edge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >.

verticesDimension()

virtual int corbo::EdgeInterface::verticesDimension ( ) const

pure virtual

Return the combined dimension of all attached vertices (excluding fixed vertex components)

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::Edge<>, corbo::Edge< Vertices >, corbo::Edge< VectorVertex, VectorVertex >, corbo::Edge< VerticesT... >, corbo::Edge< VectorVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex >, corbo::Edge< ScalarVertex >, corbo::Edge< VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< ScalarVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >, and corbo::Edge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >.

Friends And Related Function Documentation

EdgeSetInterface

friend class EdgeSetInterface

friend

Definition at line 56 of file edge_interface.h.

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

• edge_interface.h
• edge_interface.cpp