#include <generic_edge.h>

Inheritance diagram for corbo::MixedEdgeGenericVectorFun< VerticesT >:

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

using	ExtPrecomputeT = std::function< void(const VertexContainer &)>

using	Ptr = std::shared_ptr< MixedEdgeGenericVectorFun >

using	UPtr = std::unique_ptr< MixedEdgeGenericVectorFun >

Public Types inherited from corbo::MixedEdge< VerticesT... >
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

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

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

int	getEqualityDimension () const override

int	getInequalityDimension () const override

int	getObjectiveDimension () const override
	Construct generic vector function edge by passing the dimension D, the function object, a jacobian and all vertices. More...

bool	isObjectiveLeastSquaresForm () const override

	MixedEdgeGenericVectorFun (int obj_dim, int eq_dim, int ineq_dim, const ExtPrecomputeT &precompute_fun, const ExtFunT &obj_fun, const ExtFunT &eq_fun, const ExtFunT &ineq_fun, VerticesT &... vertices)
	Construct generic vector function edge by passing the dimension D, the function object and all vertices. More...

void	precompute () override

void	setLinear (bool linear)

void	setObjectiveLsqForm (bool obj_lsq)

Public Member Functions inherited from corbo::MixedEdge< VerticesT... >
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...

	MixedEdge ()=delete

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

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	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...

Protected Attributes
int	_eq_dim = 0

ExtFunT	_eq_fun

int	_ineq_dim = 0

ExtFunT	_ineq_fun

bool	_linear = false

int	_obj_dim = 0

ExtFunT	_obj_fun
	Store the external function or functor. More...

bool	_obj_lsq_form = false

ExtPrecomputeT	_preqcompute_fun

Protected Attributes inherited from corbo::MixedEdge< VerticesT... >
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

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

Detailed Description

template<class... VerticesT>
class corbo::MixedEdgeGenericVectorFun< VerticesT >

Definition at line 211 of file generic_edge.h.

Member Typedef Documentation

◆ ExtFunT

template<class... VerticesT>

using corbo::MixedEdgeGenericVectorFun< VerticesT >::ExtFunT = std::function<void(const VertexContainer&, Eigen::Ref<Eigen::VectorXd>)>

Definition at line 225 of file generic_edge.h.

◆ ExtPrecomputeT

template<class... VerticesT>

using corbo::MixedEdgeGenericVectorFun< VerticesT >::ExtPrecomputeT = std::function<void(const VertexContainer&)>

Definition at line 224 of file generic_edge.h.

◆ Ptr

template<class... VerticesT>

using corbo::MixedEdgeGenericVectorFun< VerticesT >::Ptr = std::shared_ptr<MixedEdgeGenericVectorFun>

Definition at line 217 of file generic_edge.h.

◆ UPtr

template<class... VerticesT>

using corbo::MixedEdgeGenericVectorFun< VerticesT >::UPtr = std::unique_ptr<MixedEdgeGenericVectorFun>

Definition at line 218 of file generic_edge.h.

Constructor & Destructor Documentation

◆ MixedEdgeGenericVectorFun()

template<class... VerticesT>

corbo::MixedEdgeGenericVectorFun< VerticesT >::MixedEdgeGenericVectorFun	(	int	obj_dim,
		int	eq_dim,
		int	ineq_dim,
		const ExtPrecomputeT &	precompute_fun,
		const ExtFunT &	obj_fun,
		const ExtFunT &	eq_fun,
		const ExtFunT &	ineq_fun,
		VerticesT &...	vertices
	)

inline

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

Definition at line 229 of file generic_edge.h.

Member Function Documentation

◆ computeEqualityValues()

template<class... VerticesT>

void corbo::MixedEdgeGenericVectorFun< VerticesT >::computeEqualityValues ( Eigen::Ref< Eigen::VectorXd > eq_values )

inlineoverridevirtual

Implements corbo::MixedEdge< VerticesT... >.

Definition at line 262 of file generic_edge.h.

◆ computeInequalityValues()

template<class... VerticesT>

void corbo::MixedEdgeGenericVectorFun< VerticesT >::computeInequalityValues ( Eigen::Ref< Eigen::VectorXd > ineq_values )

inlineoverridevirtual

Implements corbo::MixedEdge< VerticesT... >.

Definition at line 263 of file generic_edge.h.

◆ computeObjectiveValues()

template<class... VerticesT>

void corbo::MixedEdgeGenericVectorFun< VerticesT >::computeObjectiveValues ( Eigen::Ref< Eigen::VectorXd > obj_values )

inlineoverridevirtual

Implements corbo::MixedEdge< VerticesT... >.

Definition at line 261 of file generic_edge.h.

◆ getEqualityDimension()

template<class... VerticesT>

int corbo::MixedEdgeGenericVectorFun< VerticesT >::getEqualityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge< VerticesT... >.

Definition at line 249 of file generic_edge.h.

◆ getInequalityDimension()

template<class... VerticesT>

int corbo::MixedEdgeGenericVectorFun< VerticesT >::getInequalityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge< VerticesT... >.

Definition at line 250 of file generic_edge.h.

◆ getObjectiveDimension()

template<class... VerticesT>

int corbo::MixedEdgeGenericVectorFun< VerticesT >::getObjectiveDimension ( ) const

inlineoverridevirtual

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

Implements corbo::MixedEdge< VerticesT... >.

Definition at line 248 of file generic_edge.h.

◆ isObjectiveLeastSquaresForm()

template<class... VerticesT>

bool corbo::MixedEdgeGenericVectorFun< VerticesT >::isObjectiveLeastSquaresForm ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 255 of file generic_edge.h.

◆ precompute()

template<class... VerticesT>

void corbo::MixedEdgeGenericVectorFun< VerticesT >::precompute ( )

inlineoverridevirtual

Implements corbo::MixedEdge< VerticesT... >.

Definition at line 260 of file generic_edge.h.

◆ setLinear()

template<class... VerticesT>

void corbo::MixedEdgeGenericVectorFun< VerticesT >::setLinear ( bool linear )

inline

Definition at line 274 of file generic_edge.h.

◆ setObjectiveLsqForm()

template<class... VerticesT>

void corbo::MixedEdgeGenericVectorFun< VerticesT >::setObjectiveLsqForm ( bool obj_lsq )

inline

Definition at line 276 of file generic_edge.h.

Member Data Documentation

◆ _eq_dim

template<class... VerticesT>

int corbo::MixedEdgeGenericVectorFun< VerticesT >::_eq_dim = 0

protected

Definition at line 287 of file generic_edge.h.

◆ _eq_fun

template<class... VerticesT>

ExtFunT corbo::MixedEdgeGenericVectorFun< VerticesT >::_eq_fun

protected

Definition at line 281 of file generic_edge.h.

◆ _ineq_dim

template<class... VerticesT>

int corbo::MixedEdgeGenericVectorFun< VerticesT >::_ineq_dim = 0

protected

Definition at line 288 of file generic_edge.h.

◆ _ineq_fun

template<class... VerticesT>

ExtFunT corbo::MixedEdgeGenericVectorFun< VerticesT >::_ineq_fun

protected

Definition at line 282 of file generic_edge.h.

◆ _linear

template<class... VerticesT>

bool corbo::MixedEdgeGenericVectorFun< VerticesT >::_linear = false

protected

Definition at line 285 of file generic_edge.h.

◆ _obj_dim

template<class... VerticesT>

int corbo::MixedEdgeGenericVectorFun< VerticesT >::_obj_dim = 0

protected

Definition at line 286 of file generic_edge.h.

◆ _obj_fun

template<class... VerticesT>

ExtFunT corbo::MixedEdgeGenericVectorFun< VerticesT >::_obj_fun

protected

Store the external function or functor.

Definition at line 280 of file generic_edge.h.

◆ _obj_lsq_form

template<class... VerticesT>

bool corbo::MixedEdgeGenericVectorFun< VerticesT >::_obj_lsq_form = false

protected

Definition at line 284 of file generic_edge.h.

◆ _preqcompute_fun

template<class... VerticesT>

ExtPrecomputeT corbo::MixedEdgeGenericVectorFun< VerticesT >::_preqcompute_fun

protected

Definition at line 279 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<class... VerticesT> class corbo::MixedEdgeGenericVectorFun< VerticesT >

Member Typedef Documentation

◆ ExtFunT

◆ ExtPrecomputeT

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ MixedEdgeGenericVectorFun()

Member Function Documentation

◆ computeEqualityValues()

◆ computeInequalityValues()

◆ computeObjectiveValues()

◆ getEqualityDimension()

◆ getInequalityDimension()

◆ getObjectiveDimension()

◆ isObjectiveLeastSquaresForm()

◆ precompute()

◆ setLinear()

◆ setObjectiveLsqForm()

Member Data Documentation

◆ _eq_dim

◆ _eq_fun

◆ _ineq_dim

◆ _ineq_fun

◆ _linear

◆ _obj_dim

◆ _obj_fun

◆ _obj_lsq_form

◆ _preqcompute_fun

template<class... VerticesT>
class corbo::MixedEdgeGenericVectorFun< VerticesT >