#include <edge.h>

Inheritance diagram for corbo::MixedEdge< Vertices >:

Public Types
using	ConstPtr = std::shared_ptr< const MixedEdge >

using	Ptr = std::shared_ptr< MixedEdge >

using	UPtr = std::unique_ptr< MixedEdge >

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

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

using	UPtr = std::unique_ptr< BaseMixedEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeEqualityValues (Eigen::Ref< Eigen::VectorXd > eq_values) override=0

void	computeInequalityValues (Eigen::Ref< Eigen::VectorXd > ineq_values) override=0

void	computeObjectiveValues (Eigen::Ref< Eigen::VectorXd > obj_values) override=0

int	getEqualityDimension () const override=0

int	getInequalityDimension () const override=0

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

int	getObjectiveDimension () const override=0

const VertexInterface *	getVertex (int idx) const override

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

	MixedEdge ()=delete

template<class... VerticesT>
	MixedEdge (VerticesT &... args)
	Construct edge by providing connected vertices. More...

void	precompute () override=0

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

Public Member Functions inherited from corbo::BaseMixedEdge
virtual void	computeConstraintHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double eq_multipliers=nullptr, const double ineq_multipliers=nullptr)

virtual void	computeEqualityHessian (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	computeEqualityHessianInc (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	computeEqualityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeInequalityHessian (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	computeInequalityHessianInc (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	computeInequalityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > obj_jacobian, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double obj_multipliers=nullptr, const double eq_multipliers=nullptr, const double *ineq_multipliers=nullptr)

virtual void	computeObjectiveHessian (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	computeObjectiveHessianInc (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	computeObjectiveJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual double	computeSquaredNormOfObjectiveValues ()

virtual double	computeSumOfObjectiveValues ()

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

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

int	getEdgeEqualityIdx () const

int	getEdgeInequalityIdx () const

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

virtual bool	isEqualityLinear () const

virtual bool	isInequalityLinear () const

virtual bool	isObjectiveLeastSquaresForm () const =0

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

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_obj_values, int num_eq_values, int num_ineq_values)

void	reserveJacobiansCacheMemory (int num_obj_jacobians, int num_eq_jacobians, int num_ineq_jacobians)

void	computeObjectiveValuesCached ()
	Call computeObjectiveValues() and store result to the internal cache. More...

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

void	computeEqualityValuesCached ()
	Call computeEqualityValues() and store result to the internal cache. More...

void	computeInequalityValuesCached ()
	Call computeInequalityValues() and store result to the internal cache. More...

EdgeCache &	getObjectiveCache ()

const EdgeCache &	getObjectiveCache () const

EdgeCache &	getEqualityCache ()

const EdgeCache &	getEqualityCache () const

EdgeCache &	getInequalityCache ()

const EdgeCache &	getInequalityCache () 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...

Static Public Attributes
static constexpr const int	numVerticesCompileTime = sizeof...(Vertices)
	Return number of vertices at compile-time. More...

Protected Attributes
const VertexContainer	_vertices
	Vertex container. More...

Protected Attributes inherited from corbo::BaseMixedEdge
int	_edge_idx_eq = 0

int	_edge_idx_ineq = 0

int	_edge_idx_obj = 0

EdgeCache	_equality_cache

EdgeCache	_inequality_cache

EdgeCache	_objective_cache

Detailed Description

template<class... Vertices>
class corbo::MixedEdge< Vertices >

Definition at line 288 of file edge.h.

Member Typedef Documentation

◆ ConstPtr

template<class... Vertices>

using corbo::MixedEdge< Vertices >::ConstPtr = std::shared_ptr<const MixedEdge>

Definition at line 292 of file edge.h.

◆ Ptr

template<class... Vertices>

using corbo::MixedEdge< Vertices >::Ptr = std::shared_ptr<MixedEdge>

Definition at line 291 of file edge.h.

◆ UPtr

template<class... Vertices>

using corbo::MixedEdge< Vertices >::UPtr = std::unique_ptr<MixedEdge>

Definition at line 293 of file edge.h.

◆ VertexContainer

template<class... Vertices>

using corbo::MixedEdge< Vertices >::VertexContainer = std::array<VertexInterface*, numVerticesCompileTime>

Typedef to represent the vertex container.

Definition at line 299 of file edge.h.

Constructor & Destructor Documentation

◆ MixedEdge() [1/2]

template<class... Vertices>

corbo::MixedEdge< Vertices >::MixedEdge ( )

delete

◆ MixedEdge() [2/2]

template<class... Vertices>

template<class... VerticesT>

corbo::MixedEdge< Vertices >::MixedEdge ( VerticesT &... args )

inlineexplicit

Construct edge by providing connected vertices.

The order must match the order of template arguments provided to the class.

Warning: Vertices must remain valid as long as the Edge is in use!Construct edge by passing all vertices references.

Definition at line 311 of file edge.h.

Member Function Documentation

◆ computeEqualityValues()

template<class... Vertices>

void corbo::MixedEdge< Vertices >::computeEqualityValues ( Eigen::Ref< Eigen::VectorXd > eq_values )

overridepure virtual

Implements corbo::BaseMixedEdge.

Implemented in corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, and corbo::MultipleShootingEdgeSingleControl.

◆ computeInequalityValues()

template<class... Vertices>

void corbo::MixedEdge< Vertices >::computeInequalityValues ( Eigen::Ref< Eigen::VectorXd > ineq_values )

overridepure virtual

Implements corbo::BaseMixedEdge.

Implemented in corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, and corbo::MultipleShootingEdgeSingleControl.

◆ computeObjectiveValues()

template<class... Vertices>

void corbo::MixedEdge< Vertices >::computeObjectiveValues ( Eigen::Ref< Eigen::VectorXd > obj_values )

overridepure virtual

Implements corbo::BaseMixedEdge.

Implemented in corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, and corbo::MultipleShootingEdgeSingleControl.

◆ getEqualityDimension()

template<class... Vertices>

int corbo::MixedEdge< Vertices >::getEqualityDimension ( ) const

overridepure virtual

Implements corbo::BaseMixedEdge.

Implemented in corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, and corbo::MultipleShootingEdgeSingleControl.

◆ getInequalityDimension()

template<class... Vertices>

int corbo::MixedEdge< Vertices >::getInequalityDimension ( ) const

overridepure virtual

Implements corbo::BaseMixedEdge.

Implemented in corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, and corbo::MultipleShootingEdgeSingleControl.

◆ getNumVertices()

template<class... Vertices>

int corbo::MixedEdge< Vertices >::getNumVertices ( ) const

inlineoverridevirtual

Return number of attached vertices.

Implements corbo::EdgeInterface.

Definition at line 325 of file edge.h.

◆ getObjectiveDimension()

template<class... Vertices>

int corbo::MixedEdge< Vertices >::getObjectiveDimension ( ) const

overridepure virtual

Implements corbo::BaseMixedEdge.

Implemented in corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, and corbo::MultipleShootingEdgeSingleControl.

◆ getVertex()

template<class... Vertices>

const VertexInterface* corbo::MixedEdge< Vertices >::getVertex ( int idx ) const

inlineoverridevirtual

Implements corbo::EdgeInterface.

Definition at line 354 of file edge.h.

◆ getVertexRaw()

template<class... Vertices>

VertexInterface* corbo::MixedEdge< Vertices >::getVertexRaw ( int idx )

inlineoverridevirtual

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

Implements corbo::EdgeInterface.

Definition at line 347 of file edge.h.

◆ precompute()

template<class... Vertices>

void corbo::MixedEdge< Vertices >::precompute ( )

overridepure virtual

Implements corbo::BaseMixedEdge.

Implemented in corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, and corbo::MultipleShootingEdgeSingleControl.

◆ verticesDimension()

template<class... Vertices>

int corbo::MixedEdge< Vertices >::verticesDimension ( ) const

inlineoverridevirtual

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

Implements corbo::EdgeInterface.

Definition at line 328 of file edge.h.

Member Data Documentation

◆ _vertices

template<class... Vertices>

const VertexContainer corbo::MixedEdge< Vertices >::_vertices

protected

Vertex container.

Definition at line 361 of file edge.h.

◆ numVerticesCompileTime

template<class... Vertices>

constexpr const int corbo::MixedEdge< Vertices >::numVerticesCompileTime = sizeof...(Vertices)

static

Return number of vertices at compile-time.

Definition at line 296 of file edge.h.

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

edge.h

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

template<class... Vertices> class corbo::MixedEdge< Vertices >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ UPtr

◆ VertexContainer

Constructor & Destructor Documentation

◆ MixedEdge() [1/2]

◆ MixedEdge() [2/2]

Member Function Documentation

◆ computeEqualityValues()

◆ computeInequalityValues()

◆ computeObjectiveValues()

◆ getEqualityDimension()

◆ getInequalityDimension()

◆ getNumVertices()

◆ getObjectiveDimension()

◆ getVertex()

◆ getVertexRaw()

◆ precompute()

◆ verticesDimension()

Member Data Documentation

◆ _vertices

◆ numVerticesCompileTime

template<class... Vertices>
class corbo::MixedEdge< Vertices >