Public Types | Public Member Functions | Protected Member Functions | Private Attributes | List of all members
corbo::UncompressedCollocationEdge Class Reference

#include <collocation_edges.h>

Inheritance diagram for corbo::UncompressedCollocationEdge:
Inheritance graph
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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 VertexInterfacegetVertex (int idx) const override
 
VertexInterfacegetVertexRaw (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...
 
EdgeCachegetCache ()
 Retreive values computed previously via computeValuesCached() More...
 
const EdgeCachegetCache () 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

Definition at line 1263 of file collocation_edges.h.

◆ UPtr

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]valuesvalues 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:


control_box_rst
Author(s): Christoph Rösmann
autogenerated on Mon Feb 28 2022 22:08:03