#include <edge_interface.h>

Inheritance diagram for corbo::BaseMixedEdge:

[legend]

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

using	UPtr = std::unique_ptr< BaseMixedEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
virtual void	computeConstraintHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double eq_multipliers=nullptr, const double ineq_multipliers=nullptr)

virtual void	computeEqualityHessian (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	computeEqualityHessianInc (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	computeEqualityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeEqualityValues (Eigen::Ref< Eigen::VectorXd > eq_values)=0

virtual void	computeHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeInequalityHessian (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	computeInequalityHessianInc (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	computeInequalityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeInequalityValues (Eigen::Ref< Eigen::VectorXd > ineq_values)=0

virtual void	computeJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > obj_jacobian, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double obj_multipliers=nullptr, const double eq_multipliers=nullptr, const double *ineq_multipliers=nullptr)

virtual void	computeObjectiveHessian (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	computeObjectiveHessianInc (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	computeObjectiveJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeObjectiveValues (Eigen::Ref< Eigen::VectorXd > obj_values)=0

virtual double	computeSquaredNormOfObjectiveValues ()

virtual double	computeSumOfObjectiveValues ()

void	computeValues (Eigen::Ref< Eigen::VectorXd > values) final
	Compute function values. More...

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

virtual int	getEqualityDimension () const =0

virtual int	getInequalityDimension () const =0

virtual int	getObjectiveDimension () const =0

virtual bool	isEqualityLinear () const

virtual bool	isInequalityLinear () const

virtual bool	isObjectiveLeastSquaresForm () const =0

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

virtual void	precompute ()=0

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_obj = 0

int	_edge_idx_eq = 0

int	_edge_idx_ineq = 0

EdgeCache	_objective_cache

EdgeCache	_equality_cache

EdgeCache	_inequality_cache

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_obj_values, int num_eq_values, int num_ineq_values)

void	reserveJacobiansCacheMemory (int num_obj_jacobians, int num_eq_jacobians, int num_ineq_jacobians)

void	computeObjectiveValuesCached ()
	Call computeObjectiveValues() and store result to the internal cache. More...

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

void	computeEqualityValuesCached ()
	Call computeEqualityValues() and store result to the internal cache. More...

void	computeInequalityValuesCached ()
	Call computeInequalityValues() and store result to the internal cache. More...

EdgeCache &	getObjectiveCache ()

const EdgeCache &	getObjectiveCache () const

EdgeCache &	getEqualityCache ()

const EdgeCache &	getEqualityCache () const

EdgeCache &	getInequalityCache ()

const EdgeCache &	getInequalityCache () const

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

int	getEdgeEqualityIdx () const

int	getEdgeInequalityIdx () const

Detailed Description

Definition at line 239 of file edge_interface.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 244 of file edge_interface.h.

◆ UPtr

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

Definition at line 245 of file edge_interface.h.

Member Function Documentation

◆ computeConstraintHessians()

void corbo::BaseMixedEdge::computeConstraintHessians	(	int	vtx_idx_i,
		int	vtx_idx_j,
		const Eigen::Ref< const Eigen::MatrixXd > &	eq_jacobian_i,
		const Eigen::Ref< const Eigen::MatrixXd > &	ineq_jacobian_i,
		Eigen::Ref< Eigen::MatrixXd >	eq_hessian_ij,
		Eigen::Ref< Eigen::MatrixXd >	ineq_hessian_ij,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`
	)

virtual

Definition at line 803 of file edge_interface.cpp.

◆ computeConstraintHessiansInc()

void corbo::BaseMixedEdge::computeConstraintHessiansInc	(	int	vtx_idx_i,
		int	vtx_idx_j,
		const Eigen::Ref< const Eigen::MatrixXd > &	eq_jacobian_i,
		const Eigen::Ref< const Eigen::MatrixXd > &	ineq_jacobian_i,
		Eigen::Ref< Eigen::MatrixXd >	eq_hessian_ij,
		Eigen::Ref< Eigen::MatrixXd >	ineq_hessian_ij,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`
	)

virtual

Definition at line 1127 of file edge_interface.cpp.

◆ computeConstraintJacobians()

void corbo::BaseMixedEdge::computeConstraintJacobians	(	int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd >	eq_jacobian,
		Eigen::Ref< Eigen::MatrixXd >	ineq_jacobian,
		const double *	eq_multipliers = `nullptr`,
		const double *	ineq_multipliers = `nullptr`
	)

virtual

Definition at line 488 of file edge_interface.cpp.

◆ computeEqualityHessian()

void corbo::BaseMixedEdge::computeEqualityHessian	(	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 602 of file edge_interface.cpp.

◆ computeEqualityHessianInc()

void corbo::BaseMixedEdge::computeEqualityHessianInc	(	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 935 of file edge_interface.cpp.

◆ computeEqualityJacobian()

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

virtual

Definition at line 327 of file edge_interface.cpp.

◆ computeEqualityValues()

virtual void corbo::BaseMixedEdge::computeEqualityValues ( Eigen::Ref< Eigen::VectorXd > eq_values )

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ computeEqualityValuesCached()

void corbo::BaseMixedEdge::computeEqualityValuesCached ( )

inline

Call computeEqualityValues() and store result to the internal cache.

Definition at line 354 of file edge_interface.h.

◆ computeHessians()

void corbo::BaseMixedEdge::computeHessians	(	int	vtx_idx_i,
		int	vtx_idx_j,
		const Eigen::Ref< const Eigen::MatrixXd > &	obj_jacobian_i,
		const Eigen::Ref< const Eigen::MatrixXd > &	eq_jacobian_i,
		const Eigen::Ref< const Eigen::MatrixXd > &	ineq_jacobian_i,
		Eigen::Ref< Eigen::MatrixXd >	obj_hessian_ij,
		Eigen::Ref< Eigen::MatrixXd >	eq_hessian_ij,
		Eigen::Ref< Eigen::MatrixXd >	ineq_hessian_ij,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`,
		double	weight_obj = `1.0`
	)

virtual

Definition at line 712 of file edge_interface.cpp.

◆ computeHessiansInc()

void corbo::BaseMixedEdge::computeHessiansInc	(	int	vtx_idx_i,
		int	vtx_idx_j,
		const Eigen::Ref< const Eigen::MatrixXd > &	obj_jacobian_i,
		const Eigen::Ref< const Eigen::MatrixXd > &	eq_jacobian_i,
		const Eigen::Ref< const Eigen::MatrixXd > &	ineq_jacobian_i,
		Eigen::Ref< Eigen::MatrixXd >	obj_hessian_ij,
		Eigen::Ref< Eigen::MatrixXd >	eq_hessian_ij,
		Eigen::Ref< Eigen::MatrixXd >	ineq_hessian_ij,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`,
		double	weight_obj = `1.0`
	)

virtual

Definition at line 1041 of file edge_interface.cpp.

◆ computeInequalityHessian()

void corbo::BaseMixedEdge::computeInequalityHessian	(	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 657 of file edge_interface.cpp.

◆ computeInequalityHessianInc()

void corbo::BaseMixedEdge::computeInequalityHessianInc	(	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 988 of file edge_interface.cpp.

◆ computeInequalityJacobian()

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

virtual

Definition at line 371 of file edge_interface.cpp.

◆ computeInequalityValues()

virtual void corbo::BaseMixedEdge::computeInequalityValues ( Eigen::Ref< Eigen::VectorXd > ineq_values )

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ computeInequalityValuesCached()

void corbo::BaseMixedEdge::computeInequalityValuesCached ( )

inline

Call computeInequalityValues() and store result to the internal cache.

Definition at line 356 of file edge_interface.h.

◆ computeJacobians()

void corbo::BaseMixedEdge::computeJacobians	(	int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd >	obj_jacobian,
		Eigen::Ref< Eigen::MatrixXd >	eq_jacobian,
		Eigen::Ref< Eigen::MatrixXd >	ineq_jacobian,
		const double *	obj_multipliers = `nullptr`,
		const double *	eq_multipliers = `nullptr`,
		const double *	ineq_multipliers = `nullptr`
	)

virtual

Definition at line 416 of file edge_interface.cpp.

◆ computeObjectiveHessian()

void corbo::BaseMixedEdge::computeObjectiveHessian	(	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 547 of file edge_interface.cpp.

◆ computeObjectiveHessianInc()

void corbo::BaseMixedEdge::computeObjectiveHessianInc	(	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 882 of file edge_interface.cpp.

◆ computeObjectiveJacobian()

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

virtual

Definition at line 283 of file edge_interface.cpp.

◆ computeObjectiveValues()

virtual void corbo::BaseMixedEdge::computeObjectiveValues ( Eigen::Ref< Eigen::VectorXd > obj_values )

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ computeObjectiveValuesCached()

void corbo::BaseMixedEdge::computeObjectiveValuesCached ( )

inline

Call computeObjectiveValues() and store result to the internal cache.

Definition at line 350 of file edge_interface.h.

◆ computeSquaredNormOfObjectiveValues()

virtual double corbo::BaseMixedEdge::computeSquaredNormOfObjectiveValues ( )

inlinevirtual

Definition at line 280 of file edge_interface.h.

◆ computeSquaredNormOfObjectiveValuesCached()

void corbo::BaseMixedEdge::computeSquaredNormOfObjectiveValuesCached ( )

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 352 of file edge_interface.h.

◆ computeSumOfObjectiveValues()

virtual double corbo::BaseMixedEdge::computeSumOfObjectiveValues ( )

inlinevirtual

Definition at line 273 of file edge_interface.h.

◆ computeValues()

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

inlinefinalvirtual

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.

Definition at line 265 of file edge_interface.h.

◆ getDimension()

int corbo::BaseMixedEdge::getDimension ( ) const

inlineoverridevirtual

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

Implements corbo::EdgeInterface.

Definition at line 247 of file edge_interface.h.

◆ getEdgeEqualityIdx()

int corbo::BaseMixedEdge::getEdgeEqualityIdx ( ) const

inline

Definition at line 371 of file edge_interface.h.

◆ getEdgeInequalityIdx()

int corbo::BaseMixedEdge::getEdgeInequalityIdx ( ) const

inline

Definition at line 372 of file edge_interface.h.

◆ getEdgeObjectiveIdx()

int corbo::BaseMixedEdge::getEdgeObjectiveIdx ( ) const

inline

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

Definition at line 370 of file edge_interface.h.

◆ getEqualityCache() [1/2]

EdgeCache& corbo::BaseMixedEdge::getEqualityCache ( )

inline

Definition at line 361 of file edge_interface.h.

◆ getEqualityCache() [2/2]

const EdgeCache& corbo::BaseMixedEdge::getEqualityCache ( ) const

inline

Definition at line 362 of file edge_interface.h.

◆ getEqualityDimension()

virtual int corbo::BaseMixedEdge::getEqualityDimension ( ) const

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ getInequalityCache() [1/2]

EdgeCache& corbo::BaseMixedEdge::getInequalityCache ( )

inline

Definition at line 364 of file edge_interface.h.

◆ getInequalityCache() [2/2]

const EdgeCache& corbo::BaseMixedEdge::getInequalityCache ( ) const

inline

Definition at line 365 of file edge_interface.h.

◆ getInequalityDimension()

virtual int corbo::BaseMixedEdge::getInequalityDimension ( ) const

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ getObjectiveCache() [1/2]

EdgeCache& corbo::BaseMixedEdge::getObjectiveCache ( )

inline

Definition at line 358 of file edge_interface.h.

◆ getObjectiveCache() [2/2]

const EdgeCache& corbo::BaseMixedEdge::getObjectiveCache ( ) const

inline

Definition at line 359 of file edge_interface.h.

◆ getObjectiveDimension()

virtual int corbo::BaseMixedEdge::getObjectiveDimension ( ) const

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ isEqualityLinear()

virtual bool corbo::BaseMixedEdge::isEqualityLinear ( ) const

inlinevirtual

Reimplemented in corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

Definition at line 257 of file edge_interface.h.

◆ isInequalityLinear()

virtual bool corbo::BaseMixedEdge::isInequalityLinear ( ) const

inlinevirtual

Reimplemented in corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

Definition at line 258 of file edge_interface.h.

◆ isObjectiveLeastSquaresForm()

virtual bool corbo::BaseMixedEdge::isObjectiveLeastSquaresForm ( ) const

pure virtual

Implemented in corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ isObjectiveLinear()

virtual bool corbo::BaseMixedEdge::isObjectiveLinear ( ) const

inlinevirtual

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

Reimplemented in corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

Definition at line 256 of file edge_interface.h.

◆ precompute()

virtual void corbo::BaseMixedEdge::precompute ( )

pure virtual

Implemented in corbo::MixedEdge<>, corbo::MixedEdge< Vertices >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >, corbo::MixedEdge< VerticesT... >, corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex, VectorVertex >, corbo::CombinedUncompressedCollocationEdge, corbo::CombinedCompressedCollocationMultipleControlsEdge, corbo::CombinedCompressedCollocationEdge, corbo::ConstControlCombinedCompressedCollocationEdge, corbo::MultipleShootingEdge, corbo::MultipleShootingEdgeSingleControlTimeScaling, corbo::MixedEdgeGenericVectorFun< VerticesT >, corbo::QuadratureCollocationEdge, and corbo::MultipleShootingEdgeSingleControl.

◆ reserveCacheMemory()

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

inline

Definition at line 331 of file edge_interface.h.

◆ reserveJacobiansCacheMemory()

void corbo::BaseMixedEdge::reserveJacobiansCacheMemory	(	int	num_obj_jacobians,
		int	num_eq_jacobians,
		int	num_ineq_jacobians
	)

inline

Definition at line 342 of file edge_interface.h.

◆ reserveValuesCacheMemory()

void corbo::BaseMixedEdge::reserveValuesCacheMemory	(	int	num_obj_values,
		int	num_eq_values,
		int	num_ineq_values
	)

inline

Definition at line 336 of file edge_interface.h.

Friends And Related Function Documentation

◆ EdgeSetInterface

friend class EdgeSetInterface

friend

Definition at line 241 of file edge_interface.h.

Member Data Documentation

◆ _edge_idx_eq

int corbo::BaseMixedEdge::_edge_idx_eq = 0

protected

Definition at line 376 of file edge_interface.h.

◆ _edge_idx_ineq

int corbo::BaseMixedEdge::_edge_idx_ineq = 0

protected

Definition at line 377 of file edge_interface.h.

◆ _edge_idx_obj

int corbo::BaseMixedEdge::_edge_idx_obj = 0

protected

Definition at line 375 of file edge_interface.h.

◆ _equality_cache

EdgeCache corbo::BaseMixedEdge::_equality_cache

protected

Definition at line 380 of file edge_interface.h.

◆ _inequality_cache

EdgeCache corbo::BaseMixedEdge::_inequality_cache

protected

Definition at line 381 of file edge_interface.h.

◆ _objective_cache

EdgeCache corbo::BaseMixedEdge::_objective_cache

protected

Definition at line 379 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

◆ computeConstraintHessians()

◆ computeConstraintHessiansInc()

◆ computeConstraintJacobians()

◆ computeEqualityHessian()

◆ computeEqualityHessianInc()

◆ computeEqualityJacobian()

◆ computeEqualityValues()

◆ computeEqualityValuesCached()

◆ computeHessians()

◆ computeHessiansInc()

◆ computeInequalityHessian()

◆ computeInequalityHessianInc()

◆ computeInequalityJacobian()

◆ computeInequalityValues()

◆ computeInequalityValuesCached()

◆ computeJacobians()

◆ computeObjectiveHessian()

◆ computeObjectiveHessianInc()

◆ computeObjectiveJacobian()

◆ computeObjectiveValues()

◆ computeObjectiveValuesCached()

◆ computeSquaredNormOfObjectiveValues()

◆ computeSquaredNormOfObjectiveValuesCached()

◆ computeSumOfObjectiveValues()

◆ computeValues()

◆ getDimension()

◆ getEdgeEqualityIdx()

◆ getEdgeInequalityIdx()

◆ getEdgeObjectiveIdx()

◆ getEqualityCache() [1/2]

◆ getEqualityCache() [2/2]

◆ getEqualityDimension()

◆ getInequalityCache() [1/2]

◆ getInequalityCache() [2/2]

◆ getInequalityDimension()

◆ getObjectiveCache() [1/2]

◆ getObjectiveCache() [2/2]

◆ getObjectiveDimension()

◆ isEqualityLinear()

◆ isInequalityLinear()

◆ isObjectiveLeastSquaresForm()

◆ isObjectiveLinear()

◆ precompute()

◆ reserveCacheMemory()

◆ reserveJacobiansCacheMemory()

◆ reserveValuesCacheMemory()

Friends And Related Function Documentation

◆ EdgeSetInterface

Member Data Documentation

◆ _edge_idx_eq

◆ _edge_idx_ineq

◆ _edge_idx_obj

◆ _equality_cache

◆ _inequality_cache

◆ _objective_cache