#include <collocation_edges.h>

Inheritance diagram for corbo::UncompressedCollocationEdge:

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

using	UPtr = std::unique_ptr< UncompressedCollocationEdge >

Public Types inherited from corbo::Edge<>
using	ConstPtr = std::shared_ptr< const Edge >

using	Ptr = std::shared_ptr< Edge >

using	UPtr = std::unique_ptr< Edge >

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

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

using	UPtr = std::unique_ptr< BaseEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeValues (Eigen::Ref< Eigen::VectorXd > values) override
	Compute function values. More...

void	finalize ()

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

bool	isLeastSquaresForm () const override
	Defines if the edge is formulated as Least-Squares form. More...

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

	UncompressedCollocationEdge (SystemDynamicsInterface::Ptr dynamics, QuadratureCollocationInterface::Ptr quadrature)

Public Member Functions inherited from corbo::Edge<>
	Edge ()=delete

	Edge (int num_vertices)

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...

bool	providesJacobian () const override
	Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten) More...

void	resizeVertexContainer (int n)
	Set number `n` of vertices attached to this edge. More...

void	setVertex (int idx, VertexInterface &vertex)

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

Public Member Functions inherited from corbo::BaseEdge
virtual void	computeHessian (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	computeHessianInc (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)
	Compute edge block Hessian for a given vertex pair. More...

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

virtual void	computeJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)
	Compute edge block jacobian for a given vertex. More...

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

virtual bool	providesHessian () const
	Return true if a custom Hessian is provided (e.g. computeHessian() is overwritten) More...

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_value_vectors)

void	reserveJacobiansCacheMemory (int num_jacobians)

void	computeValuesCached ()
	Call computeValues() and store result to previously allocated internal cache (call allocateInteralValuesCache() first once) More...

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

EdgeCache &	getCache ()
	Retreive values computed previously via computeValuesCached() More...

const EdgeCache &	getCache () 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 Member Functions
void	clearInternalBuffer ()

Private Attributes
QuadratureCollocationInterface::Ptr	_collocation

int	_dim_x = 0

int	_dimension = 0

const ScalarVertex *	_dt = nullptr

SystemDynamicsInterface::Ptr	_dynamics

Eigen::VectorXd	_dynamics_quadrature

std::vector< Eigen::VectorXd * >	_intermediate_u

bool	_intermediate_u_internal_buf = false

std::vector< Eigen::VectorXd * >	_intermediate_x

Eigen::VectorXd	_midpoint_error

int	_num_intermediate_points = 0

const VectorVertex *	_u1 = nullptr

const VectorVertex *	_u2 = nullptr

const VectorVertex *	_x1 = nullptr

const VectorVertex *	_x2 = nullptr

Additional Inherited Members
Protected Attributes inherited from corbo::Edge<>
VertexContainer	_vertices
	Vertex container. More...

Protected Attributes inherited from corbo::BaseEdge
EdgeCache	_cache

int	_edge_idx = 0

Detailed Description

Definition at line 1260 of file collocation_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 1263 of file collocation_edges.h.

◆ UPtr

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

Definition at line 1264 of file collocation_edges.h.

Constructor & Destructor Documentation

◆ UncompressedCollocationEdge()

corbo::UncompressedCollocationEdge::UncompressedCollocationEdge	(	SystemDynamicsInterface::Ptr	dynamics,
		QuadratureCollocationInterface::Ptr	quadrature
	)

inlineexplicit

Definition at line 1266 of file collocation_edges.h.

Member Function Documentation

◆ clearInternalBuffer()

void corbo::UncompressedCollocationEdge::clearInternalBuffer ( )

inlineprotected

Definition at line 1348 of file collocation_edges.h.

◆ computeValues()

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

inlineoverridevirtual

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().

Implements corbo::Edge<>.

Definition at line 1326 of file collocation_edges.h.

◆ finalize()

void corbo::UncompressedCollocationEdge::finalize ( )

inline

Definition at line 1274 of file collocation_edges.h.

◆ getDimension()

int corbo::UncompressedCollocationEdge::getDimension ( ) const

inlineoverridevirtual

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

Implements corbo::Edge<>.

Definition at line 1318 of file collocation_edges.h.

◆ isLeastSquaresForm()

bool corbo::UncompressedCollocationEdge::isLeastSquaresForm ( ) const

inlineoverridevirtual

Defines if the edge is formulated as Least-Squares form.

Least-squares cost terms are defined as $ f(x) = e(x)^T e(x) $ and the function values and Jacobian are computed for $ e(x) $ rather than for $ f(x) $ . Specialiezed least-squares solvers require the optimization problem to be defined in this particular form. Other solvers can automatically compute the square of least-squares edges if required. However, the other way round is more restrictive: general solvers might not cope with non-least-squares forms.

Note, in the LS-form case computeValues() computes e(x) and otherwise f(x).

Returns: true if the edge is given in LS-form

Reimplemented from corbo::BaseEdge.

Definition at line 1324 of file collocation_edges.h.

◆ isLinear()

bool corbo::UncompressedCollocationEdge::isLinear ( ) const

inlineoverridevirtual

Return true if the edge is linear (and hence its Hessian is always zero)

Implements corbo::Edge<>.

Definition at line 1320 of file collocation_edges.h.

Member Data Documentation

◆ _collocation

QuadratureCollocationInterface::Ptr corbo::UncompressedCollocationEdge::_collocation

private

Definition at line 1359 of file collocation_edges.h.

◆ _dim_x

int corbo::UncompressedCollocationEdge::_dim_x = 0

private

Definition at line 1364 of file collocation_edges.h.

◆ _dimension

int corbo::UncompressedCollocationEdge::_dimension = 0

private

Definition at line 1365 of file collocation_edges.h.

◆ _dt

const ScalarVertex* corbo::UncompressedCollocationEdge::_dt = nullptr

private

Definition at line 1376 of file collocation_edges.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::UncompressedCollocationEdge::_dynamics

private

Definition at line 1358 of file collocation_edges.h.

◆ _dynamics_quadrature

Eigen::VectorXd corbo::UncompressedCollocationEdge::_dynamics_quadrature

private

Definition at line 1361 of file collocation_edges.h.

◆ _intermediate_u

std::vector<Eigen::VectorXd*> corbo::UncompressedCollocationEdge::_intermediate_u

private

Definition at line 1369 of file collocation_edges.h.

◆ _intermediate_u_internal_buf

bool corbo::UncompressedCollocationEdge::_intermediate_u_internal_buf = false

private

Definition at line 1370 of file collocation_edges.h.

◆ _intermediate_x

std::vector<Eigen::VectorXd*> corbo::UncompressedCollocationEdge::_intermediate_x

private

Definition at line 1368 of file collocation_edges.h.

◆ _midpoint_error

Eigen::VectorXd corbo::UncompressedCollocationEdge::_midpoint_error

private

Definition at line 1362 of file collocation_edges.h.

◆ _num_intermediate_points

int corbo::UncompressedCollocationEdge::_num_intermediate_points = 0

private

Definition at line 1367 of file collocation_edges.h.

◆ _u1

const VectorVertex* corbo::UncompressedCollocationEdge::_u1 = nullptr

private

Definition at line 1373 of file collocation_edges.h.

◆ _u2

const VectorVertex* corbo::UncompressedCollocationEdge::_u2 = nullptr

private

Definition at line 1375 of file collocation_edges.h.

◆ _x1

const VectorVertex* corbo::UncompressedCollocationEdge::_x1 = nullptr

private

Definition at line 1372 of file collocation_edges.h.

◆ _x2

const VectorVertex* corbo::UncompressedCollocationEdge::_x2 = nullptr

private

Definition at line 1374 of file collocation_edges.h.

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

collocation_edges.h

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ UncompressedCollocationEdge()

Member Function Documentation

◆ clearInternalBuffer()

◆ computeValues()

◆ finalize()

◆ getDimension()

◆ isLeastSquaresForm()

◆ isLinear()

Member Data Documentation

◆ _collocation

◆ _dim_x

◆ _dimension

◆ _dt

◆ _dynamics

◆ _dynamics_quadrature

◆ _intermediate_u

◆ _intermediate_u_internal_buf

◆ _intermediate_x

◆ _midpoint_error

◆ _num_intermediate_points

◆ _u1

◆ _u2

◆ _x1

◆ _x2