Generic interface class for vertices. More...

#include <vertex_interface.h>

Inheritance diagram for corbo::VertexInterface:

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

using	UPtr = std::unique_ptr< VertexInterface >

Public Member Functions
virtual void	clear ()=0
	Clear complete backup container. More...

virtual void	clearBackups ()

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

virtual void	discardTop ()=0
	Delete the previously made backup from the stack without restoring it. 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...

virtual const double *	getData () const =0
	Get read-only raw access to the values of the vertex. More...

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

virtual double *	getDataRaw ()=0
	Get write access to the values of the vertex. More...

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

virtual int	getDimension () const =0
	Return number of elements/values/components stored in this vertex. More...

virtual int	getDimensionUnfixed () const =0
	Return number of unfixed elements (unfixed elements are skipped as parameters in the Hessian and Jacobian. More...

virtual const double *	getLowerBounds () const =0
	Read-only raw access to lower bounds [getDimension() x 1]. More...

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

virtual int	getNumBackups () const =0
	Return the current size/number of backups of the backup stack. More...

virtual int	getNumberFiniteBounds (bool unfixed_only) const =0
	Get number of finite upper bounds (either upper or lower must be finite) More...

virtual int	getNumberFiniteLowerBounds (bool unfixed_only) const =0
	Get number of finite lower bounds. More...

virtual int	getNumberFiniteUpperBounds (bool unfixed_only) const =0
	Get number of finite upper bounds. More...

virtual const double *	getUpperBounds () const =0
	Read-only raw access to upper 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	hasFiniteBounds () const =0
	Check if finite bounds (lower or upper) are provided. More...

virtual bool	hasFiniteLowerBound (int idx) const =0
	Check if finite lower bound for a single component is provided. More...

virtual bool	hasFiniteLowerBounds () const =0
	Check if finite lower bounds are provided. More...

virtual bool	hasFiniteUpperBound (int idx) const =0
	Check if finite upper bound for a single component is provided. More...

virtual bool	hasFiniteUpperBounds () const =0
	Check if finite upper bounds are provided. More...

virtual bool	hasFixedComponents () const =0
	Check if the vertex has fixed components. More...

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

virtual bool	isFixedComponent (int idx) const =0
	Check if individual components are fixed or unfixed. More...

virtual void	plus (int idx, double inc)=0
	Add value to a specific component of the vertex: x[idx] += inc. More...

virtual void	plus (const double *inc)=0
	Define the increment for the vertex: x += inc with dim(inc)=getDimension(). More...

virtual void	plusUnfixed (const double *inc)=0
	Define the increment for the unfixed components of the vertex: x += inc with dim(inc)=getDimensionUnfixed(). More...

virtual void	pop ()=0
	Restore the previously stored values of the backup stack and remove them from the stack. More...

virtual void	push ()=0
	Store all values into a internal backup stack. 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 void	setData (int idx, double data)=0
	Write data to to a specific component. More...

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

virtual void	setLowerBounds (const Eigen::Ref< const Eigen::VectorXd > &lb)=0
	Define lower bounds on the vertex values [getDimension() x 1]. More...

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

virtual void	setUpperBounds (const Eigen::Ref< const Eigen::VectorXd > &ub)=0
	Define upper bounds on the vertex values [getDimension() x 1]. More...

virtual void	top ()=0
	Restore the previously stored values of the backup stack WITHOUT removing them from the stack. More...

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

Private Attributes
std::set< BaseEdge * >	_edges_equalities
	connected equality constraint edges More...

std::set< BaseEdge * >	_edges_inequalities
	connected inequality constraint edges More...

std::set< BaseEdge * >	_edges_lsq_objective
	connected least-squares objective edges More...

std::set< BaseMixedEdge * >	_edges_mixed
	connected mixed edges More...

std::set< BaseEdge * >	_edges_objective
	Retrieve number of connected objective edges with custom Jacobian. More...

int	_vertex_idx = 0
	vertex index in jacobian or hessian (determined by friend class HyperGraph). More...

Friends
class	VertexSetInterface

Detailed Description

Generic interface class for vertices.

This abstract class defines the interface for vertices. The optimization problem might be formulated as a hyper-graph in which optimization parameters are represented as vertices. Cost functions and constraints are represented as edges (refer to EdgeInterface).

See also: 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 53 of file vertex_interface.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 58 of file vertex_interface.h.

◆ UPtr

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

Definition at line 59 of file vertex_interface.h.

Constructor & Destructor Documentation

◆ ~VertexInterface()

virtual corbo::VertexInterface::~VertexInterface ( )

inlinevirtual

Virtual destructor.

Definition at line 62 of file vertex_interface.h.

Member Function Documentation

◆ clear()

virtual void corbo::VertexInterface::clear ( )

pure virtual

Clear complete backup container.

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ clearBackups()

virtual void corbo::VertexInterface::clearBackups ( )

inlinevirtual

Definition at line 167 of file vertex_interface.h.

◆ clearConnectedEdges()

void corbo::VertexInterface::clearConnectedEdges ( )

inline

Clear all connected edges.

Definition at line 82 of file vertex_interface.h.

◆ discardTop()

virtual void corbo::VertexInterface::discardTop ( )

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ getConnectedEqualityEdgesRef()

const std::set<BaseEdge*>& corbo::VertexInterface::getConnectedEqualityEdgesRef ( ) const

inline

Raw access for connected equality constraint edges.

Definition at line 155 of file vertex_interface.h.

◆ getConnectedInequalityEdgesRef()

const std::set<BaseEdge*>& corbo::VertexInterface::getConnectedInequalityEdgesRef ( ) const

inline

Raw access for connected inequality constraint edges.

Definition at line 157 of file vertex_interface.h.

◆ getConnectedLsqObjectiveEdgesRef()

const std::set<BaseEdge*>& corbo::VertexInterface::getConnectedLsqObjectiveEdgesRef ( ) const

inline

Raw access for connected least-squares objective edges.

Definition at line 153 of file vertex_interface.h.

◆ getConnectedMixedEdgesRef()

const std::set<BaseMixedEdge*>& corbo::VertexInterface::getConnectedMixedEdgesRef ( ) const

inline

Raw access for connected mixed edges.

Definition at line 159 of file vertex_interface.h.

◆ getConnectedObjectiveEdgesRef()

const std::set<BaseEdge*>& corbo::VertexInterface::getConnectedObjectiveEdgesRef ( ) const

inline

Raw access for connected objective edges.

Definition at line 151 of file vertex_interface.h.

◆ getData()

virtual const double* corbo::VertexInterface::getData ( ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ getDataMap()

Eigen::Map<const Eigen::VectorXd> corbo::VertexInterface::getDataMap ( ) const

inline

Get a read-only Eigen::Map to the values of the vertex.

Definition at line 103 of file vertex_interface.h.

◆ getDataRaw()

virtual double* corbo::VertexInterface::getDataRaw ( )

pure virtual

Get write access to the values of the vertex.

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ getDataRawMap()

Eigen::Map<Eigen::VectorXd> corbo::VertexInterface::getDataRawMap ( )

inline

Get a Eigen::Map to the values of the vertex.

Definition at line 105 of file vertex_interface.h.

◆ getDimension()

virtual int corbo::VertexInterface::getDimension ( ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ getDimensionUnfixed()

virtual int corbo::VertexInterface::getDimensionUnfixed ( ) const

pure virtual

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

Implemented in corbo::PartiallyFixedVectorVertex, corbo::VectorVertex, and corbo::ScalarVertex.

◆ getLowerBounds()

virtual const double* corbo::VertexInterface::getLowerBounds ( ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ getLowerBoundsMap()

Eigen::Map<const Eigen::VectorXd> corbo::VertexInterface::getLowerBoundsMap ( ) const

inline

Read-only Eigen::Map for lower bounds [getDimension() x 1].

Definition at line 144 of file vertex_interface.h.

◆ getNumBackups()

virtual int corbo::VertexInterface::getNumBackups ( ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ getNumberFiniteBounds()

virtual int corbo::VertexInterface::getNumberFiniteBounds ( bool unfixed_only ) const

pure virtual

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

Implemented in corbo::PartiallyFixedVectorVertex, corbo::VectorVertex, and corbo::ScalarVertex.

◆ getNumberFiniteLowerBounds()

virtual int corbo::VertexInterface::getNumberFiniteLowerBounds ( bool unfixed_only ) const

pure virtual

Get number of finite lower bounds.

Implemented in corbo::PartiallyFixedVectorVertex, corbo::VectorVertex, and corbo::ScalarVertex.

◆ getNumberFiniteUpperBounds()

virtual int corbo::VertexInterface::getNumberFiniteUpperBounds ( bool unfixed_only ) const

pure virtual

Get number of finite upper bounds.

Implemented in corbo::PartiallyFixedVectorVertex, corbo::VectorVertex, and corbo::ScalarVertex.

◆ getUpperBounds()

virtual const double* corbo::VertexInterface::getUpperBounds ( ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ getUpperBoundsMap()

Eigen::Map<const Eigen::VectorXd> corbo::VertexInterface::getUpperBoundsMap ( ) const

inline

Read-only Eigen::Map for upper bounds [getDimension() x 1].

Definition at line 148 of file vertex_interface.h.

◆ getVertexIdx()

int corbo::VertexInterface::getVertexIdx ( ) const

inline

Retrieve current edge index (warning, this value is determined within the related VertexSetInterface implementation)

Definition at line 172 of file vertex_interface.h.

◆ hasFiniteBounds()

virtual bool corbo::VertexInterface::hasFiniteBounds ( ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ hasFiniteLowerBound()

virtual bool corbo::VertexInterface::hasFiniteLowerBound ( int idx ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ hasFiniteLowerBounds()

virtual bool corbo::VertexInterface::hasFiniteLowerBounds ( ) const

pure virtual

Check if finite lower bounds are provided.

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ hasFiniteUpperBound()

virtual bool corbo::VertexInterface::hasFiniteUpperBound ( int idx ) const

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ hasFiniteUpperBounds()

virtual bool corbo::VertexInterface::hasFiniteUpperBounds ( ) const

pure virtual

Check if finite upper bounds are provided.

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ hasFixedComponents()

virtual bool corbo::VertexInterface::hasFixedComponents ( ) const

pure virtual

Check if the vertex has fixed components.

Implemented in corbo::PartiallyFixedVectorVertex, corbo::VectorVertex, and corbo::ScalarVertex.

◆ isFixed()

virtual bool corbo::VertexInterface::isFixed ( ) const

inlinevirtual

Check if all components are fixed.

Definition at line 69 of file vertex_interface.h.

◆ isFixedComponent()

virtual bool corbo::VertexInterface::isFixedComponent ( int idx ) const

pure virtual

Check if individual components are fixed or unfixed.

Implemented in corbo::PartiallyFixedVectorVertex, corbo::VectorVertex, and corbo::ScalarVertex.

◆ plus() [1/2]

virtual void corbo::VertexInterface::plus	(	int	idx,
		double	inc
	)

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ plus() [2/2]

virtual void corbo::VertexInterface::plus ( const double * inc )

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ plusUnfixed()

virtual void corbo::VertexInterface::plusUnfixed ( const double * inc )

pure virtual

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

Implemented in corbo::PartiallyFixedVectorVertex, corbo::VectorVertex, and corbo::ScalarVertex.

◆ pop()

virtual void corbo::VertexInterface::pop ( )

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ push()

virtual void corbo::VertexInterface::push ( )

pure virtual

Store all values into a internal backup stack.

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ registerEqualityEdge()

void corbo::VertexInterface::registerEqualityEdge ( BaseEdge * edge )

Register an adjacent equality constraint edge.

Definition at line 33 of file vertex_interface.cpp.

◆ registerInequalityEdge()

void corbo::VertexInterface::registerInequalityEdge ( BaseEdge * edge )

Register an adjacent inequality constraint edge.

Definition at line 34 of file vertex_interface.cpp.

◆ registerLsqObjectiveEdge()

void corbo::VertexInterface::registerLsqObjectiveEdge ( BaseEdge * edge )

Register an adjacent least-squares objective edge.

Definition at line 32 of file vertex_interface.cpp.

◆ registerMixedEdge()

void corbo::VertexInterface::registerMixedEdge ( BaseMixedEdge * edge )

Register an adjacent mixed edge.

Definition at line 35 of file vertex_interface.cpp.

◆ registerObjectiveEdge()

void corbo::VertexInterface::registerObjectiveEdge ( BaseEdge * edge )

Register an adjacent objective edge.

Definition at line 31 of file vertex_interface.cpp.

◆ setData()

virtual void corbo::VertexInterface::setData	(	int	idx,
		double	data
	)

pure virtual

Write data to to a specific component.

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ setLowerBound()

virtual void corbo::VertexInterface::setLowerBound	(	int	idx,
		double	lb
	)

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ setLowerBounds()

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

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ setUpperBound()

virtual void corbo::VertexInterface::setUpperBound	(	int	idx,
		double	ub
	)

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ setUpperBounds()

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

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

◆ top()

virtual void corbo::VertexInterface::top ( )

pure virtual

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

Implemented in corbo::VectorVertex, and corbo::ScalarVertex.

Friends And Related Function Documentation

◆ VertexSetInterface

friend class VertexSetInterface

friend

Definition at line 55 of file vertex_interface.h.

Member Data Documentation

◆ _edges_equalities

std::set<BaseEdge*> corbo::VertexInterface::_edges_equalities

private

connected equality constraint edges

Definition at line 183 of file vertex_interface.h.

◆ _edges_inequalities

std::set<BaseEdge*> corbo::VertexInterface::_edges_inequalities

private

connected inequality constraint edges

Definition at line 184 of file vertex_interface.h.

◆ _edges_lsq_objective

std::set<BaseEdge*> corbo::VertexInterface::_edges_lsq_objective

private

connected least-squares objective edges

Definition at line 182 of file vertex_interface.h.

◆ _edges_mixed

std::set<BaseMixedEdge*> corbo::VertexInterface::_edges_mixed

private

connected mixed edges

Definition at line 185 of file vertex_interface.h.

◆ _edges_objective

std::set<BaseEdge*> corbo::VertexInterface::_edges_objective

private

Retrieve number of connected objective edges with custom Jacobian.

Retrieve number of connected equality constraint edges with custom Jacobian Retrieve number of connected inequality constraint edges with custom Jacobian connected objective edges

Definition at line 181 of file vertex_interface.h.

◆ _vertex_idx

int corbo::VertexInterface::_vertex_idx = 0

private

vertex index in jacobian or hessian (determined by friend class HyperGraph).

Definition at line 187 of file vertex_interface.h.

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

Public Types

Public Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~VertexInterface()

Member Function Documentation

◆ clear()

◆ clearBackups()

◆ clearConnectedEdges()

◆ discardTop()

◆ getConnectedEqualityEdgesRef()

◆ getConnectedInequalityEdgesRef()

◆ getConnectedLsqObjectiveEdgesRef()

◆ getConnectedMixedEdgesRef()

◆ getConnectedObjectiveEdgesRef()

◆ getData()

◆ getDataMap()

◆ getDataRaw()

◆ getDataRawMap()

◆ getDimension()

◆ getDimensionUnfixed()

◆ getLowerBounds()

◆ getLowerBoundsMap()

◆ getNumBackups()

◆ getNumberFiniteBounds()

◆ getNumberFiniteLowerBounds()

◆ getNumberFiniteUpperBounds()

◆ getUpperBounds()

◆ getUpperBoundsMap()

◆ getVertexIdx()

◆ hasFiniteBounds()

◆ hasFiniteLowerBound()

◆ hasFiniteLowerBounds()

◆ hasFiniteUpperBound()

◆ hasFiniteUpperBounds()

◆ hasFixedComponents()

◆ isFixed()

◆ isFixedComponent()

◆ plus() [1/2]

◆ plus() [2/2]

◆ plusUnfixed()

◆ pop()

◆ push()

◆ registerEqualityEdge()

◆ registerInequalityEdge()

◆ registerLsqObjectiveEdge()

◆ registerMixedEdge()

◆ registerObjectiveEdge()

◆ setData()

◆ setLowerBound()

◆ setLowerBounds()

◆ setUpperBound()

◆ setUpperBounds()

◆ top()

Friends And Related Function Documentation

◆ VertexSetInterface

Member Data Documentation

◆ _edges_equalities

◆ _edges_inequalities

◆ _edges_lsq_objective

◆ _edges_mixed

◆ _edges_objective

◆ _vertex_idx