Vector based vertex with support for partially fixed components. More...

#include <vector_vertex.h>

Inheritance diagram for corbo::PartiallyFixedVectorVertex:

Public Types
using	Ptr = std::shared_ptr< PartiallyFixedVectorVertex >

using	UPtr = std::unique_ptr< PartiallyFixedVectorVertex >

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

using	UPtr = std::unique_ptr< VectorVertex >

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

using	UPtr = std::unique_ptr< VertexInterface >

Public Member Functions
const Eigen::Array< bool, -1, 1 >	fixedArray () const
	Read-only access to the underlying logical array for fixed components. More...

int	getDimensionUnfixed () const override
	Return number of unfixed elements (unfixed elements are skipped as parameters in the Hessian and Jacobian. More...

int	getNumberFiniteBounds (bool unfixed_only) const override
	Get number of finite upper bounds (either upper or lower must be finite) More...

int	getNumberFiniteLowerBounds (bool unfixed_only) const override
	Get number of finite lower bounds. More...

int	getNumberFiniteUpperBounds (bool unfixed_only) const override
	Get number of finite upper bounds. More...

bool	hasFixedComponents () const override
	Check if the vertex has fixed components. More...

bool	isFixedComponent (int idx) const override
	Check if individual components are fixed or unfixed. More...

	PartiallyFixedVectorVertex ()=default
	Default constructor. More...

	PartiallyFixedVectorVertex (int dimension)

	PartiallyFixedVectorVertex (int dimension, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Construct and allocate memory for a given dimension. More...

	PartiallyFixedVectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values)
	Construct vertex with given values. More...

	PartiallyFixedVectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Construct vertex with given values and fixed components. More...

	PartiallyFixedVectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
	Construct vertex with given values, lower and upper bounds. More...

void	plusUnfixed (const double *inc) override
	Define the increment for the unfixed components of the vertex: x += inc with dim(inc)=getDimensionUnfixed(). More...

void	set (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false) override
	Set values and bounds at once. More...

void	set (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Set values and bounds at once (overload with fixed vector) More...

void	setDimension (int dim) override
	Change the dimension of the vertex (lower and upper bounds needs to be redefined) More...

void	setFixed (int idx, bool fixed)
	Set component with idx (0 <= idx < dimension()) to (un)fixed. More...

void	setFixed (const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Set logical array [dimension() x 1] in order to fix selected components. More...

void	setFixed (bool fixed) override
	Set complete vertex to fixed (and hence skip during optimization) More...

Public Member Functions inherited from corbo::VectorVertex
void	clear () override
	Clear complete backup container. More...

void	discardTop () override
	Delete the previously made backup from the stack without restoring it. More...

const double *	getData () const override
	Get read-only raw access to the values of the vertex. More...

double *	getDataRaw () override
	Get write access to the values of the vertex. More...

int	getDimension () const override
	Return number of elements/values/components stored in this vertex. More...

const double *	getLowerBounds () const override
	Read-only raw access to lower bounds [getDimension() x 1]. More...

int	getNumBackups () const override
	Return the current size/number of backups of the backup stack. More...

const double *	getUpperBounds () const override
	Read-only raw access to upper bounds [getDimension() x 1]. More...

bool	hasFiniteBounds () const override
	Check if finite bounds (lower or upper) are provided. More...

bool	hasFiniteLowerBound (int idx) const override
	Check if finite lower bound for a single component is provided. More...

bool	hasFiniteLowerBounds () const override
	Check if finite lower bounds are provided. More...

bool	hasFiniteUpperBound (int idx) const override
	Check if finite upper bound for a single component is provided. More...

bool	hasFiniteUpperBounds () const override
	Check if finite upper bounds are provided. More...

const Eigen::VectorXd &	lowerBound () const
	Read-access to the underlying lower bound vector. More...

void	plus (int idx, double inc) override
	Add value to a specific component of the vertex: x[idx] += inc. More...

void	plus (const double *inc) override
	Define the increment for the vertex: x += inc with dim(inc)=getDimension(). More...

void	pop () override
	Restore the previously stored values of the backup stack and remove them from the stack. More...

void	push () override
	Store all values into a internal backup stack. More...

void	setData (int idx, double data) override
	Write data to to a specific component. More...

void	setLowerBound (int idx, double lb) override
	Define lower bound on a single component of the vertex (0 <= idx < getDimension()) More...

void	setLowerBounds (const Eigen::Ref< const Eigen::VectorXd > &lb) override
	Define lower bounds on the vertex values [getDimension() x 1]. More...

void	setUpperBound (int idx, double ub) override
	Define upper bound on a single component of the vertex (0 <= idx < getDimension()) More...

void	setUpperBounds (const Eigen::Ref< const Eigen::VectorXd > &ub) override
	Define upper bounds on the vertex values [getDimension() x 1]. More...

void	top () override
	Restore the previously stored values of the backup stack WITHOUT removing them from the stack. More...

const Eigen::VectorXd &	upperBound () const
	Read-access to the underlying upper bound vector. More...

const Eigen::VectorXd &	values () const
	Read-access to the underlying value vector. More...

Eigen::VectorXd &	values ()
	Write-access to the underlying value vector. More...

	VectorVertex ()=default
	Default constructor. More...

	VectorVertex (bool fixed)

	VectorVertex (int dimension, bool fixed=false)
	Construct and allocate memory for a given dimension. More...

	VectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, bool fixed=false)
	Construct vertex with given values. More...

	VectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false)
	Construct vertex with given values, lower and upper bounds. More...

Public Member Functions inherited from corbo::VertexInterface
virtual void	clearBackups ()

void	clearConnectedEdges ()
	Clear all connected edges. More...

const std::set< BaseEdge * > &	getConnectedEqualityEdgesRef () const
	Raw access for connected equality constraint edges. More...

const std::set< BaseEdge * > &	getConnectedInequalityEdgesRef () const
	Raw access for connected inequality constraint edges. More...

const std::set< BaseEdge * > &	getConnectedLsqObjectiveEdgesRef () const
	Raw access for connected least-squares objective edges. More...

const std::set< BaseMixedEdge * > &	getConnectedMixedEdgesRef () const
	Raw access for connected mixed edges. More...

const std::set< BaseEdge * > &	getConnectedObjectiveEdgesRef () const
	Raw access for connected objective edges. More...

Eigen::Map< const Eigen::VectorXd >	getDataMap () const
	Get a read-only Eigen::Map to the values of the vertex. More...

Eigen::Map< Eigen::VectorXd >	getDataRawMap ()
	Get a Eigen::Map to the values of the vertex. More...

Eigen::Map< const Eigen::VectorXd >	getLowerBoundsMap () const
	Read-only Eigen::Map for lower bounds [getDimension() x 1]. More...

Eigen::Map< const Eigen::VectorXd >	getUpperBoundsMap () const
	Read-only Eigen::Map for upper bounds [getDimension() x 1]. More...

int	getVertexIdx () const
	Retrieve current edge index (warning, this value is determined within the related VertexSetInterface implementation) More...

virtual bool	isFixed () const
	Check if all components are fixed. More...

void	registerEqualityEdge (BaseEdge *edge)
	Register an adjacent equality constraint edge. More...

void	registerInequalityEdge (BaseEdge *edge)
	Register an adjacent inequality constraint edge. More...

void	registerLsqObjectiveEdge (BaseEdge *edge)
	Register an adjacent least-squares objective edge. More...

void	registerMixedEdge (BaseMixedEdge *edge)
	Register an adjacent mixed edge. More...

void	registerObjectiveEdge (BaseEdge *edge)
	Register an adjacent objective edge. More...

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

Protected Attributes
Eigen::Array< bool, -1, 1 >	_fixed

int	_num_unfixed

Protected Attributes inherited from corbo::VectorVertex
std::vector< Eigen::VectorXd >	_backup

bool	_finite_lb_bounds = false

bool	_finite_ub_bounds = false

bool	_fixed = false

Eigen::VectorXd	_lb

Eigen::VectorXd	_ub

Eigen::VectorXd	_values

Detailed Description

Vector based vertex with support for partially fixed components.

The vertex extends VectorVertex by allowing the user to partially fix components of the underlying vector.

See also: VertexInterface VectorVertex HyperGraph EdgeInterface

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 276 of file vector_vertex.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 279 of file vector_vertex.h.

◆ UPtr

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

Definition at line 280 of file vector_vertex.h.

Constructor & Destructor Documentation

◆ PartiallyFixedVectorVertex() [1/6]

corbo::PartiallyFixedVectorVertex::PartiallyFixedVectorVertex ( )

default

Default constructor.

◆ PartiallyFixedVectorVertex() [2/6]

corbo::PartiallyFixedVectorVertex::PartiallyFixedVectorVertex ( int dimension )

inlineexplicit

Definition at line 285 of file vector_vertex.h.

◆ PartiallyFixedVectorVertex() [3/6]

corbo::PartiallyFixedVectorVertex::PartiallyFixedVectorVertex	(	int	dimension,
		const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &	fixed
	)

inlineexplicit

Construct and allocate memory for a given dimension.

Definition at line 291 of file vector_vertex.h.

◆ PartiallyFixedVectorVertex() [4/6]

corbo::PartiallyFixedVectorVertex::PartiallyFixedVectorVertex ( const Eigen::Ref< const Eigen::VectorXd > & values )

inlineexplicit

Construct vertex with given values.

Definition at line 297 of file vector_vertex.h.

◆ PartiallyFixedVectorVertex() [5/6]

corbo::PartiallyFixedVectorVertex::PartiallyFixedVectorVertex	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &	fixed
	)

inlineexplicit

Construct vertex with given values and fixed components.

Definition at line 303 of file vector_vertex.h.

◆ PartiallyFixedVectorVertex() [6/6]

corbo::PartiallyFixedVectorVertex::PartiallyFixedVectorVertex	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub
	)

inlineexplicit

Construct vertex with given values, lower and upper bounds.

Definition at line 309 of file vector_vertex.h.

Member Function Documentation

◆ fixedArray()

const Eigen::Array<bool, -1, 1> corbo::PartiallyFixedVectorVertex::fixedArray ( ) const

inline

Read-only access to the underlying logical array for fixed components.

Definition at line 441 of file vector_vertex.h.

◆ getDimensionUnfixed()

int corbo::PartiallyFixedVectorVertex::getDimensionUnfixed ( ) const

inlineoverridevirtual

Return number of unfixed elements (unfixed elements are skipped as parameters in the Hessian and Jacobian.

Reimplemented from corbo::VectorVertex.

Definition at line 316 of file vector_vertex.h.

◆ getNumberFiniteBounds()

int corbo::PartiallyFixedVectorVertex::getNumberFiniteBounds ( bool unfixed_only ) const

inlineoverridevirtual

Get number of finite upper bounds (either upper or lower must be finite)

Reimplemented from corbo::VectorVertex.

Definition at line 425 of file vector_vertex.h.

◆ getNumberFiniteLowerBounds()

int corbo::PartiallyFixedVectorVertex::getNumberFiniteLowerBounds ( bool unfixed_only ) const

inlineoverridevirtual

Get number of finite lower bounds.

Reimplemented from corbo::VectorVertex.

Definition at line 393 of file vector_vertex.h.

◆ getNumberFiniteUpperBounds()

int corbo::PartiallyFixedVectorVertex::getNumberFiniteUpperBounds ( bool unfixed_only ) const

inlineoverridevirtual

Get number of finite upper bounds.

Reimplemented from corbo::VectorVertex.

Definition at line 409 of file vector_vertex.h.

◆ hasFixedComponents()

bool corbo::PartiallyFixedVectorVertex::hasFixedComponents ( ) const

inlineoverridevirtual

Check if the vertex has fixed components.

Reimplemented from corbo::VectorVertex.

Definition at line 388 of file vector_vertex.h.

◆ isFixedComponent()

bool corbo::PartiallyFixedVectorVertex::isFixedComponent ( int idx ) const

inlineoverridevirtual

Check if individual components are fixed or unfixed.

Reimplemented from corbo::VectorVertex.

Definition at line 390 of file vector_vertex.h.

◆ plusUnfixed()

void corbo::PartiallyFixedVectorVertex::plusUnfixed ( const double * inc )

inlineoverridevirtual

Define the increment for the unfixed components of the vertex: x += inc with dim(inc)=getDimensionUnfixed().

Reimplemented from corbo::VectorVertex.

Definition at line 374 of file vector_vertex.h.

◆ set() [1/2]

void corbo::PartiallyFixedVectorVertex::set	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub,
		bool	fixed = `false`
	)

inlineoverridevirtual

Set values and bounds at once.

Reimplemented from corbo::VectorVertex.

Definition at line 327 of file vector_vertex.h.

◆ set() [2/2]

void corbo::PartiallyFixedVectorVertex::set	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub,
		const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &	fixed
	)

inline

Set values and bounds at once (overload with fixed vector)

Definition at line 340 of file vector_vertex.h.

◆ setDimension()

void corbo::PartiallyFixedVectorVertex::setDimension ( int dim )

inlineoverridevirtual

Change the dimension of the vertex (lower and upper bounds needs to be redefined)

Reimplemented from corbo::VectorVertex.

Definition at line 319 of file vector_vertex.h.

◆ setFixed() [1/3]

void corbo::PartiallyFixedVectorVertex::setFixed	(	int	idx,
		bool	fixed
	)

inline

Set component with idx (0 <= idx < dimension()) to (un)fixed.

Definition at line 353 of file vector_vertex.h.

◆ setFixed() [2/3]

void corbo::PartiallyFixedVectorVertex::setFixed ( const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> & fixed )

inline

Set logical array [dimension() x 1] in order to fix selected components.

Definition at line 360 of file vector_vertex.h.

◆ setFixed() [3/3]

void corbo::PartiallyFixedVectorVertex::setFixed ( bool fixed )

inlineoverridevirtual

Set complete vertex to fixed (and hence skip during optimization)

Reimplemented from corbo::VectorVertex.

Definition at line 367 of file vector_vertex.h.

Member Data Documentation

◆ _fixed

Eigen::Array<bool, -1, 1> corbo::PartiallyFixedVectorVertex::_fixed

protected

Definition at line 444 of file vector_vertex.h.

◆ _num_unfixed

int corbo::PartiallyFixedVectorVertex::_num_unfixed

protected

Definition at line 445 of file vector_vertex.h.

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

vector_vertex.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ PartiallyFixedVectorVertex() [1/6]

◆ PartiallyFixedVectorVertex() [2/6]

◆ PartiallyFixedVectorVertex() [3/6]

◆ PartiallyFixedVectorVertex() [4/6]

◆ PartiallyFixedVectorVertex() [5/6]

◆ PartiallyFixedVectorVertex() [6/6]

Member Function Documentation

◆ fixedArray()

◆ getDimensionUnfixed()

◆ getNumberFiniteBounds()

◆ getNumberFiniteLowerBounds()

◆ getNumberFiniteUpperBounds()

◆ hasFixedComponents()

◆ isFixedComponent()

◆ plusUnfixed()

◆ set() [1/2]

◆ set() [2/2]

◆ setDimension()

◆ setFixed() [1/3]

◆ setFixed() [2/3]

◆ setFixed() [3/3]

Member Data Documentation

◆ _fixed

◆ _num_unfixed