#include <edge_interface.h>

Inheritance diagram for corbo::BaseEdge:

[legend]

Public Types
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
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...

void	computeValues (Eigen::Ref< Eigen::VectorXd > values) override=0
	Compute function values. More...

int	getDimension () const override=0
	Get dimension of the edge (dimension of the cost-function/constraint value vector) More...

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

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

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

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

Public Member Functions inherited from corbo::EdgeInterface
virtual double	computeSquaredNormOfValues ()

virtual double	computeSumOfValues ()

int	getNumFiniteVerticesLowerBounds () const

int	getNumFiniteVerticesUpperBounds () const

virtual int	getNumVertices () const =0
	Return number of attached vertices. More...

virtual const VertexInterface *	getVertex (int idx) const =0

virtual VertexInterface *	getVertexRaw (int idx)=0
	Get access to vertex with index `idx` (0 <= idx < numVertices) More...

virtual int	verticesDimension () const =0
	Return the combined dimension of all attached vertices (excluding fixed vertex components) More...

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

Friends
class	EdgeSetInterface

Caching of edge values and block jacobians
int	_edge_idx = 0

EdgeCache	_cache

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

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

Detailed Description

Definition at line 129 of file edge_interface.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 134 of file edge_interface.h.

◆ UPtr

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

Definition at line 135 of file edge_interface.h.

Member Function Documentation

◆ computeHessian()

void corbo::BaseEdge::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

Definition at line 227 of file edge_interface.cpp.

◆ computeHessianInc() [1/2]

void corbo::BaseEdge::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`
	)

virtual

Compute edge block Hessian for a given vertex pair.

This interface class provides a numerical computation of the Hessian using finite differences. However, a user-defined implementation might be specified by overwriting this method. In that case do not forget to also overwrite providesHessian().

Given two vertices i and j, four matrices can be computed: Hii, Hij, Hji, Hjj. However, usually it is Hij = Hji.

Parameters

[in]	vtx_idx_i	First vertex number
[in]	vtx_idx_j	Second vertex number
[in]	block_jacobian_i	Block jacobian for vertex i which might be taken into account: [dimension() x VertexInterface::dimensionUnfixed()] (must be preallocated)
[out]	block_hessian_ij	Resulting block hessian for vertex pair i and j: [VertexInterface::dimensionUnfixed() x VertexInterface::dimensionUnfixed()]
[in]	multipliers	Scale each value component by an optional multiplier if argument is not null

Definition at line 173 of file edge_interface.cpp.

◆ computeHessianInc() [2/2]

void corbo::BaseEdge::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

Definition at line 120 of file edge_interface.cpp.

◆ computeJacobian()

void corbo::BaseEdge::computeJacobian	(	int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd >	block_jacobian,
		const double *	multipliers = `nullptr`
	)

virtual

Compute edge block jacobian for a given vertex.

This interface class provides a numerical computation of the Jacobian using finite differences. However, a user-defined implementation might be specified by overwriting this method. In that case do not forget to also overwrite providesJacobian().

Parameters

[in]	vtx_idx	Vertex number for which the block jacobian should be computed
[out]	block_jacobian	Resulting block jacobian [dimension() x VertexInterface::dimensionUnfixed()] (must be preallocated)
[in]	multipliers	Scale each value component by an optional multiplier if argument is not null null.

Reimplemented in corbo::EdgeGenericScalarFun< VerticesT >, and corbo::EdgeGenericVectorFun< D, VerticesT >.

Definition at line 77 of file edge_interface.cpp.

◆ computeSquaredNormOfValuesCached()

void corbo::BaseEdge::computeSquaredNormOfValuesCached ( )

inline

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

Definition at line 223 of file edge_interface.h.

◆ computeValues()

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

overridepure virtual

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::EdgeInterface.

◆ computeValuesCached()

void corbo::BaseEdge::computeValuesCached ( )

inline

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

Definition at line 220 of file edge_interface.h.

◆ getCache() [1/2]

EdgeCache& corbo::BaseEdge::getCache ( )

inline

Retreive values computed previously via computeValuesCached()

Definition at line 226 of file edge_interface.h.

◆ getCache() [2/2]

const EdgeCache& corbo::BaseEdge::getCache ( ) const

inline

Definition at line 227 of file edge_interface.h.

◆ getDimension()

int corbo::BaseEdge::getDimension ( ) const

overridepure virtual

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

Implements corbo::EdgeInterface.

Implemented in corbo::Edge<>, corbo::Edge< Vertices >, corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, corbo::TernaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumInequalityEdge, corbo::BinaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::CompressedCollocationEdge, corbo::LeftSumEqualityEdge, corbo::BinaryVectorVertexEdge< T, ComputeMethod >, corbo::UnaryScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumCostEdge, corbo::UnaryVectorVertexEdge< T, ComputeMethod >, corbo::TrapezoidalCollocationIntegralInequalityEdge, corbo::TrapezoidalIntegralInequalityEdge, corbo::TrapezoidalCollocationIntegralEqualityEdge, corbo::TrapezoidalIntegralEqualityEdge, corbo::EdgeGenericVectorFun< D, VerticesT >, corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralCostEdge, corbo::TrapezoidalCollocationIntegralCostEdge, corbo::EdgeGenericScalarFun< VerticesT >, corbo::MSVariableDynamicsOnlyEdge, corbo::QuadratureCollocationDynamicsOnly, corbo::L1StabInequalityEdge, corbo::FDCollocationEdge, corbo::MSDynamicsOnlyEdge, corbo::TrapezoidalCollocationDynamicsOnlyEdge, corbo::L1StabCostEdge, and corbo::TwoScalarEqualEdge.

◆ getEdgeIdx()

int corbo::BaseEdge::getEdgeIdx ( ) const

inline

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

Definition at line 232 of file edge_interface.h.

◆ isLeastSquaresForm()

virtual bool corbo::BaseEdge::isLeastSquaresForm ( ) const

inlinevirtual

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 in corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, corbo::TernaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumInequalityEdge, corbo::BinaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::CompressedCollocationEdge, corbo::LeftSumEqualityEdge, corbo::BinaryVectorVertexEdge< T, ComputeMethod >, corbo::UnaryScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumCostEdge, corbo::UnaryVectorVertexEdge< T, ComputeMethod >, corbo::TrapezoidalCollocationIntegralInequalityEdge, corbo::TrapezoidalIntegralInequalityEdge, corbo::TrapezoidalCollocationIntegralEqualityEdge, corbo::TrapezoidalIntegralEqualityEdge, corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge, corbo::EdgeGenericVectorFun< D, VerticesT >, corbo::TrapezoidalIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralCostEdge, corbo::MSVariableDynamicsOnlyEdge, corbo::TrapezoidalCollocationIntegralCostEdge, corbo::EdgeGenericScalarFun< VerticesT >, corbo::QuadratureCollocationDynamicsOnly, corbo::L1StabInequalityEdge, corbo::FDCollocationEdge, corbo::MSDynamicsOnlyEdge, corbo::TrapezoidalCollocationDynamicsOnlyEdge, corbo::L1StabCostEdge, and corbo::TwoScalarEqualEdge.

Definition at line 156 of file edge_interface.h.

◆ isLinear()

virtual bool corbo::BaseEdge::isLinear ( ) const

inlinevirtual

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

Reimplemented in corbo::Edge<>, corbo::Edge< Vertices >, corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, corbo::TernaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumInequalityEdge, corbo::BinaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::CompressedCollocationEdge, corbo::LeftSumEqualityEdge, corbo::BinaryVectorVertexEdge< T, ComputeMethod >, corbo::UnaryScalarVertexEdge< T, ComputeMethod >, corbo::LeftSumCostEdge, corbo::UnaryVectorVertexEdge< T, ComputeMethod >, corbo::TrapezoidalCollocationIntegralInequalityEdge, corbo::TrapezoidalIntegralInequalityEdge, corbo::TrapezoidalCollocationIntegralEqualityEdge, corbo::TrapezoidalIntegralEqualityEdge, corbo::EdgeGenericVectorFun< D, VerticesT >, corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralEqualityDynamicsEdge, corbo::TrapezoidalIntegralCostEdge, corbo::MSVariableDynamicsOnlyEdge, corbo::TrapezoidalCollocationIntegralCostEdge, corbo::EdgeGenericScalarFun< VerticesT >, corbo::QuadratureCollocationDynamicsOnly, corbo::L1StabInequalityEdge, corbo::FDCollocationEdge, corbo::MSDynamicsOnlyEdge, corbo::TrapezoidalCollocationDynamicsOnlyEdge, corbo::L1StabCostEdge, and corbo::TwoScalarEqualEdge.

Definition at line 159 of file edge_interface.h.

◆ providesHessian()

virtual bool corbo::BaseEdge::providesHessian ( ) const

inlinevirtual

Return true if a custom Hessian is provided (e.g. computeHessian() is overwritten)

Definition at line 163 of file edge_interface.h.

◆ providesJacobian()

virtual bool corbo::BaseEdge::providesJacobian ( ) const

inlinevirtual

Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten)

Reimplemented in corbo::TernaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::BinaryVectorScalarVertexEdge< T, ComputeMethod >, corbo::BinaryVectorVertexEdge< T, ComputeMethod >, corbo::UnaryScalarVertexEdge< T, ComputeMethod >, corbo::UnaryVectorVertexEdge< T, ComputeMethod >, corbo::Edge<>, corbo::Edge< Vertices >, corbo::EdgeGenericVectorFun< D, VerticesT >, and corbo::EdgeGenericScalarFun< VerticesT >.

Definition at line 161 of file edge_interface.h.

◆ reserveCacheMemory()

void corbo::BaseEdge::reserveCacheMemory	(	int	num_value_vectors,
		int	num_jacobians
	)

inline

Definition at line 211 of file edge_interface.h.

◆ reserveJacobiansCacheMemory()

void corbo::BaseEdge::reserveJacobiansCacheMemory ( int num_jacobians )

inline

Definition at line 217 of file edge_interface.h.

◆ reserveValuesCacheMemory()

void corbo::BaseEdge::reserveValuesCacheMemory ( int num_value_vectors )

inline

Definition at line 216 of file edge_interface.h.

Friends And Related Function Documentation

◆ EdgeSetInterface

friend class EdgeSetInterface

friend

Definition at line 131 of file edge_interface.h.

Member Data Documentation

◆ _cache

EdgeCache corbo::BaseEdge::_cache

protected

Definition at line 236 of file edge_interface.h.

◆ _edge_idx

int corbo::BaseEdge::_edge_idx = 0

protected

Definition at line 235 of file edge_interface.h.

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

Public Types

Public Member Functions

Friends

Caching of edge values and block jacobians

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Member Function Documentation

◆ computeHessian()

◆ computeHessianInc() [1/2]

◆ computeHessianInc() [2/2]

◆ computeJacobian()

◆ computeSquaredNormOfValuesCached()

◆ computeValues()

◆ computeValuesCached()

◆ getCache() [1/2]

◆ getCache() [2/2]

◆ getDimension()

◆ getEdgeIdx()

◆ isLeastSquaresForm()

◆ isLinear()

◆ providesHessian()

◆ providesJacobian()

◆ reserveCacheMemory()

◆ reserveJacobiansCacheMemory()

◆ reserveValuesCacheMemory()

Friends And Related Function Documentation

◆ EdgeSetInterface

Member Data Documentation

◆ _cache

◆ _edge_idx