Vertex implementation for scalar values. More...

#include <scalar_vertex.h>

Inheritance diagram for corbo::ScalarVertex:

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

using	UPtr = std::unique_ptr< ScalarVertex >

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

using	UPtr = std::unique_ptr< VertexInterface >

Public Member Functions
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...

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

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...

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) 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) 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...

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

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

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

	ScalarVertex ()
	Default constructor. More...

	ScalarVertex (double value)
	Construct vertex with given value. More...

	ScalarVertex (double value, bool fixed)
	Construct vertex with given value and fixed flag. More...

	ScalarVertex (double value, double lb, double ub)
	Construct vertex with given value, lower and upper bound. More...

	ScalarVertex (double value, double lb, double ub, bool fixed)
	Construct vertex with given value, lower and upper bound and fixed flag. More...

void	set (double value, double lb, double ub, bool fixed)

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

void	setFixed (bool fixed)
	Set vertex (un)fixed. More...

void	setLowerBound (double lb)
	Set lower bound. More...

void	setLowerBound (int, 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 (double ub)
	Set upper bound. More...

void	setUpperBound (int, 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 double &	value () const
	Get underlying value. More...

double &	value ()
	Raw access to the underlying value. More...

const double &	values () const
	Get underlying value (this method is for compatibility purposes) More...

double &	values ()
	Raw access to the underlying value (this method is for compatibility purposes) 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
std::vector< double >	_backup

bool	_fixed = false

double	_lb

double	_ub

double	_value

Detailed Description

Vertex implementation for scalar values.

This vertex is optimized for scalar (1D) values in contrast to VectorVertex which stores multi-dimensional 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 50 of file scalar_vertex.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 53 of file scalar_vertex.h.

◆ UPtr

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

Definition at line 54 of file scalar_vertex.h.

Constructor & Destructor Documentation

◆ ScalarVertex() [1/5]

corbo::ScalarVertex::ScalarVertex ( )

inline

Default constructor.

Definition at line 57 of file scalar_vertex.h.

◆ ScalarVertex() [2/5]

corbo::ScalarVertex::ScalarVertex ( double value )

inlineexplicit

Construct vertex with given value.

Definition at line 59 of file scalar_vertex.h.

◆ ScalarVertex() [3/5]

corbo::ScalarVertex::ScalarVertex	(	double	value,
		bool	fixed
	)

inlineexplicit

Construct vertex with given value and fixed flag.

Definition at line 62 of file scalar_vertex.h.

◆ ScalarVertex() [4/5]

corbo::ScalarVertex::ScalarVertex	(	double	value,
		double	lb,
		double	ub
	)

inlineexplicit

Construct vertex with given value, lower and upper bound.

Definition at line 65 of file scalar_vertex.h.

◆ ScalarVertex() [5/5]

corbo::ScalarVertex::ScalarVertex	(	double	value,
		double	lb,
		double	ub,
		bool	fixed
	)

inlineexplicit

Construct vertex with given value, lower and upper bound and fixed flag.

Definition at line 68 of file scalar_vertex.h.

Member Function Documentation

◆ clear()

void corbo::ScalarVertex::clear ( )

inlineoverridevirtual

Clear complete backup container.

Implements corbo::VertexInterface.

Definition at line 176 of file scalar_vertex.h.

◆ discardTop()

void corbo::ScalarVertex::discardTop ( )

inlineoverridevirtual

Delete the previously made backup from the stack without restoring it.

Implements corbo::VertexInterface.

Definition at line 174 of file scalar_vertex.h.

◆ getData()

const double* corbo::ScalarVertex::getData ( ) const

inlineoverridevirtual

Get read-only raw access to the values of the vertex.

Implements corbo::VertexInterface.

Definition at line 83 of file scalar_vertex.h.

◆ getDataRaw()

double* corbo::ScalarVertex::getDataRaw ( )

inlineoverridevirtual

Get write access to the values of the vertex.

Implements corbo::VertexInterface.

Definition at line 84 of file scalar_vertex.h.

◆ getDimension()

int corbo::ScalarVertex::getDimension ( ) const

inlineoverridevirtual

Return number of elements/values/components stored in this vertex.

Implements corbo::VertexInterface.

Definition at line 71 of file scalar_vertex.h.

◆ getDimensionUnfixed()

int corbo::ScalarVertex::getDimensionUnfixed ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 73 of file scalar_vertex.h.

◆ getLowerBounds()

const double* corbo::ScalarVertex::getLowerBounds ( ) const

inlineoverridevirtual

Read-only raw access to lower bounds [getDimension() x 1].

Implements corbo::VertexInterface.

Definition at line 154 of file scalar_vertex.h.

◆ getNumBackups()

int corbo::ScalarVertex::getNumBackups ( ) const

inlineoverridevirtual

Return the current size/number of backups of the backup stack.

Implements corbo::VertexInterface.

Definition at line 178 of file scalar_vertex.h.

◆ getNumberFiniteBounds()

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

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 142 of file scalar_vertex.h.

◆ getNumberFiniteLowerBounds()

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

inlineoverridevirtual

Get number of finite lower bounds.

Implements corbo::VertexInterface.

Definition at line 126 of file scalar_vertex.h.

◆ getNumberFiniteUpperBounds()

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

inlineoverridevirtual

Get number of finite upper bounds.

Implements corbo::VertexInterface.

Definition at line 134 of file scalar_vertex.h.

◆ getUpperBounds()

const double* corbo::ScalarVertex::getUpperBounds ( ) const

inlineoverridevirtual

Read-only raw access to upper bounds [getDimension() x 1].

Implements corbo::VertexInterface.

Definition at line 156 of file scalar_vertex.h.

◆ hasFiniteBounds()

bool corbo::ScalarVertex::hasFiniteBounds ( ) const

inlineoverridevirtual

Check if finite bounds (lower or upper) are provided.

Implements corbo::VertexInterface.

Definition at line 116 of file scalar_vertex.h.

◆ hasFiniteLowerBound()

bool corbo::ScalarVertex::hasFiniteLowerBound ( int idx ) const

inlineoverridevirtual

Check if finite lower bound for a single component is provided.

Implements corbo::VertexInterface.

Definition at line 122 of file scalar_vertex.h.

◆ hasFiniteLowerBounds()

bool corbo::ScalarVertex::hasFiniteLowerBounds ( ) const

inlineoverridevirtual

Check if finite lower bounds are provided.

Implements corbo::VertexInterface.

Definition at line 118 of file scalar_vertex.h.

◆ hasFiniteUpperBound()

bool corbo::ScalarVertex::hasFiniteUpperBound ( int idx ) const

inlineoverridevirtual

Check if finite upper bound for a single component is provided.

Implements corbo::VertexInterface.

Definition at line 124 of file scalar_vertex.h.

◆ hasFiniteUpperBounds()

bool corbo::ScalarVertex::hasFiniteUpperBounds ( ) const

inlineoverridevirtual

Check if finite upper bounds are provided.

Implements corbo::VertexInterface.

Definition at line 120 of file scalar_vertex.h.

◆ hasFixedComponents()

bool corbo::ScalarVertex::hasFixedComponents ( ) const

inlineoverridevirtual

Check if the vertex has fixed components.

Implements corbo::VertexInterface.

Definition at line 99 of file scalar_vertex.h.

◆ isFixedComponent()

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

inlineoverridevirtual

Check if individual components are fixed or unfixed.

Implements corbo::VertexInterface.

Definition at line 101 of file scalar_vertex.h.

◆ plus() [1/2]

void corbo::ScalarVertex::plus	(	int	idx,
		double	inc
	)

inlineoverridevirtual

Add value to a specific component of the vertex: x[idx] += inc.

Implements corbo::VertexInterface.

Definition at line 76 of file scalar_vertex.h.

◆ plus() [2/2]

void corbo::ScalarVertex::plus ( const double * inc )

inlineoverridevirtual

Define the increment for the vertex: x += inc with dim(inc)=getDimension().

Implements corbo::VertexInterface.

Definition at line 78 of file scalar_vertex.h.

◆ plusUnfixed()

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

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 80 of file scalar_vertex.h.

◆ pop()

void corbo::ScalarVertex::pop ( )

inlineoverridevirtual

Restore the previously stored values of the backup stack and remove them from the stack.

Implements corbo::VertexInterface.

Definition at line 162 of file scalar_vertex.h.

◆ push()

void corbo::ScalarVertex::push ( )

inlineoverridevirtual

Store all values into a internal backup stack.

Implements corbo::VertexInterface.

Definition at line 160 of file scalar_vertex.h.

◆ set()

void corbo::ScalarVertex::set	(	double	value,
		double	lb,
		double	ub,
		bool	fixed
	)

inline

Definition at line 90 of file scalar_vertex.h.

◆ setData()

void corbo::ScalarVertex::setData	(	int	idx,
		double	data
	)

inlineoverridevirtual

Write data to to a specific component.

Implements corbo::VertexInterface.

Definition at line 87 of file scalar_vertex.h.

◆ setFixed()

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

inline

Set vertex (un)fixed.

Definition at line 151 of file scalar_vertex.h.

◆ setLowerBound() [1/2]

void corbo::ScalarVertex::setLowerBound ( double lb )

inline

Set lower bound.

Definition at line 104 of file scalar_vertex.h.

◆ setLowerBound() [2/2]

void corbo::ScalarVertex::setLowerBound	(	int	idx,
		double	lb
	)

inlineoverridevirtual

Define lower bound on a single component of the vertex (0 <= idx < getDimension())

Implements corbo::VertexInterface.

Definition at line 112 of file scalar_vertex.h.

◆ setLowerBounds()

void corbo::ScalarVertex::setLowerBounds ( const Eigen::Ref< const Eigen::VectorXd > & lb )

inlineoverridevirtual

Define lower bounds on the vertex values [getDimension() x 1].

Implements corbo::VertexInterface.

Definition at line 108 of file scalar_vertex.h.

◆ setUpperBound() [1/2]

void corbo::ScalarVertex::setUpperBound ( double ub )

inline

Set upper bound.

Definition at line 106 of file scalar_vertex.h.

◆ setUpperBound() [2/2]

void corbo::ScalarVertex::setUpperBound	(	int	idx,
		double	ub
	)

inlineoverridevirtual

Define upper bound on a single component of the vertex (0 <= idx < getDimension())

Implements corbo::VertexInterface.

Definition at line 114 of file scalar_vertex.h.

◆ setUpperBounds()

void corbo::ScalarVertex::setUpperBounds ( const Eigen::Ref< const Eigen::VectorXd > & ub )

inlineoverridevirtual

Define upper bounds on the vertex values [getDimension() x 1].

Implements corbo::VertexInterface.

Definition at line 110 of file scalar_vertex.h.

◆ top()

void corbo::ScalarVertex::top ( )

inlineoverridevirtual

Restore the previously stored values of the backup stack WITHOUT removing them from the stack.

Implements corbo::VertexInterface.

Definition at line 168 of file scalar_vertex.h.

◆ value() [1/2]

const double& corbo::ScalarVertex::value ( ) const

inline

Get underlying value.

Definition at line 181 of file scalar_vertex.h.

◆ value() [2/2]

double& corbo::ScalarVertex::value ( )

inline

Raw access to the underlying value.

Definition at line 183 of file scalar_vertex.h.

◆ values() [1/2]

const double& corbo::ScalarVertex::values ( ) const

inline

Get underlying value (this method is for compatibility purposes)

Definition at line 186 of file scalar_vertex.h.

◆ values() [2/2]

double& corbo::ScalarVertex::values ( )

inline

Raw access to the underlying value (this method is for compatibility purposes)

Definition at line 188 of file scalar_vertex.h.

Member Data Documentation

◆ _backup

std::vector<double> corbo::ScalarVertex::_backup

protected

Definition at line 197 of file scalar_vertex.h.

◆ _fixed

bool corbo::ScalarVertex::_fixed = false

protected

Definition at line 195 of file scalar_vertex.h.

◆ _lb

double corbo::ScalarVertex::_lb

protected

Definition at line 192 of file scalar_vertex.h.

◆ _ub

double corbo::ScalarVertex::_ub

protected

Definition at line 193 of file scalar_vertex.h.

◆ _value

double corbo::ScalarVertex::_value

protected

Definition at line 191 of file scalar_vertex.h.

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

scalar_vertex.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ScalarVertex() [1/5]

◆ ScalarVertex() [2/5]

◆ ScalarVertex() [3/5]

◆ ScalarVertex() [4/5]

◆ ScalarVertex() [5/5]

Member Function Documentation

◆ clear()

◆ discardTop()

◆ getData()

◆ getDataRaw()

◆ getDimension()

◆ getDimensionUnfixed()

◆ getLowerBounds()

◆ getNumBackups()

◆ getNumberFiniteBounds()

◆ getNumberFiniteLowerBounds()

◆ getNumberFiniteUpperBounds()

◆ getUpperBounds()

◆ hasFiniteBounds()

◆ hasFiniteLowerBound()

◆ hasFiniteLowerBounds()

◆ hasFiniteUpperBound()

◆ hasFiniteUpperBounds()

◆ hasFixedComponents()

◆ isFixedComponent()

◆ plus() [1/2]

◆ plus() [2/2]

◆ plusUnfixed()

◆ pop()

◆ push()

◆ set()

◆ setData()

◆ setFixed()

◆ setLowerBound() [1/2]

◆ setLowerBound() [2/2]

◆ setLowerBounds()

◆ setUpperBound() [1/2]

◆ setUpperBound() [2/2]

◆ setUpperBounds()

◆ top()

◆ value() [1/2]

◆ value() [2/2]

◆ values() [1/2]

◆ values() [2/2]

Member Data Documentation

◆ _backup

◆ _fixed

◆ _lb

◆ _ub

◆ _value