#include <hyper_graph_optimization_problem_edge_based.h>

Inheritance diagram for corbo::HyperGraphOptimizationProblemEdgeBased:

Public Member Functions
void	computeCombinedSparseJacobian (Eigen::SparseMatrix< double > &jacobian, bool objective_lsq, bool equality, bool inequality, bool finite_combined_bounds, bool active_ineq=false, double weight_eq=1.0, double weight_ineq=1.0, double weight_bounds=1.0, const Eigen::VectorXd values=nullptr, const Eigen::VectorXi col_nnz=nullptr) override

int	computeCombinedSparseJacobiansNNZ (bool objective_lsq=true, bool equality=true, bool inequality=true) override

void	computeCombinedSparseJacobiansStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, bool objective_lsq=true, bool equality=true, bool inequality=true) override

void	computeCombinedSparseJacobiansValues (Eigen::Ref< Eigen::VectorXd > values, bool objective_lsq=true, bool equality=true, bool inequality=true, const double multipliers_obj=nullptr, const double multipliers_eq=nullptr, const double *multipliers_ineq=nullptr) override

void	computeDenseHessianObjective (Eigen::Ref< Eigen::MatrixXd > hessian, double multiplier=1.0) override

void	computeDenseJacobianActiveInequalities (Eigen::Ref< Eigen::MatrixXd > jacobian, double weight=1.0) override
	Compute the Jacobian Jc(x) with non-zeros for active constraints c(x)>= 0 and zeros for inactive ones. More...

void	computeDenseJacobianEqualities (Eigen::Ref< Eigen::MatrixXd > jacobian, const double *multipliers=nullptr) override
	Compute the equality constraint Jacobian Jceq(x) for the current parameter set. More...

void	computeDenseJacobianInequalities (Eigen::Ref< Eigen::MatrixXd > jacobian, const double *multipliers=nullptr) override
	Compute the inequality constraint Jacobian Jc(x) for the current parameter set. More...

void	computeDenseJacobianLsqObjective (Eigen::Ref< Eigen::MatrixXd > jacobian, const double *multipliers=nullptr) override
	Compute the objective Jacobian Jf(x) for the current parameter set. More...

void	computeDenseJacobians (Eigen::Ref< Eigen::VectorXd > gradient_non_lsq_obj, Eigen::Ref< Eigen::MatrixXd > jacobian_lsq_obj, Eigen::Ref< Eigen::MatrixXd > jacobian_eq, Eigen::Ref< Eigen::MatrixXd > jacobian_ineq, const double multipliers_lsq_obj=nullptr, const double multipliers_eq=nullptr, const double *multipliers_ineq=nullptr, bool active_ineq=false, double active_ineq_weight=1.0) override
	Compute the objective and constraint Jacobians at once. More...

void	computeGradientNonLsqObjective (Eigen::Ref< Eigen::VectorXd > gradient) override

void	computeGradientObjective (Eigen::Ref< Eigen::VectorXd > gradient) override

void	computeGradientObjectiveAndCombinedSparseJacobiansValues (Eigen::Ref< Eigen::VectorXd > gradient, Eigen::Ref< Eigen::VectorXd > jac_values, bool equality=true, bool inequality=true, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr) override

int	computeSparseHessianEqualitiesNNZ (bool lower_part_only=false) override

void	computeSparseHessianEqualitiesStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, bool lower_part_only=false) override

void	computeSparseHessianEqualitiesValues (Eigen::Ref< Eigen::VectorXd > values, const double *multipliers=nullptr, bool lower_part_only=false) override

int	computeSparseHessianInequalitiesNNZ (bool lower_part_only=false) override

void	computeSparseHessianInequalitiesStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, bool lower_part_only=false) override

void	computeSparseHessianInequalitiesValues (Eigen::Ref< Eigen::VectorXd > values, const double *multipliers=nullptr, bool lower_part_only=false) override

void	computeSparseHessianLagrangian (Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &H, const double multipliers_eq, const double multipliers_ineq, const Eigen::VectorXi *col_nnz=nullptr, bool upper_part_only=false) override
	Compute the hessian of the lagrangian L(x) = f(x) + lambda1 * c(x) + lambda2 * ceq(x) More...

void	computeSparseHessianLagrangianNNZperCol (Eigen::Ref< Eigen::VectorXi > col_nnz, bool upper_part_only=false) override

void	computeSparseHessianObjectiveLL (Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &H, const Eigen::VectorXi *col_nnz=nullptr, bool upper_part_only=false) override

int	computeSparseHessianObjectiveNNZ (bool lower_part_only=false) override

void	computeSparseHessianObjectiveNNZperCol (Eigen::Ref< Eigen::VectorXi > col_nnz, bool upper_part_only=false) override

void	computeSparseHessianObjectiveStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, bool lower_part_only=false) override

void	computeSparseHessianObjectiveValues (Eigen::Ref< Eigen::VectorXd > values, double multiplier=1.0, bool lower_part_only=false) override

void	computeSparseHessiansNNZ (int &nnz_obj, int &nnz_eq, int &nnz_ineq, bool lower_part_only=false) override

void	computeSparseHessiansStructure (Eigen::Ref< Eigen::VectorXi > i_row_obj, Eigen::Ref< Eigen::VectorXi > j_col_obj, Eigen::Ref< Eigen::VectorXi > i_row_eq, Eigen::Ref< Eigen::VectorXi > j_col_eq, Eigen::Ref< Eigen::VectorXi > i_row_ineq, Eigen::Ref< Eigen::VectorXi > j_col_ineq, bool lower_part_only=false) override

void	computeSparseHessiansValues (Eigen::Ref< Eigen::VectorXd > values_obj, Eigen::Ref< Eigen::VectorXd > values_eq, Eigen::Ref< Eigen::VectorXd > values_ineq, double multiplier_obj=1.0, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, bool lower_part_only=false) override

void	computeSparseJacobianActiveInequalitiesValues (Eigen::Ref< Eigen::VectorXd > values, double weight=1.0) override

int	computeSparseJacobianEqualitiesNNZ () override

void	computeSparseJacobianEqualitiesStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col) override

void	computeSparseJacobianEqualitiesValues (Eigen::Ref< Eigen::VectorXd > values, const double *multipliers=nullptr) override

int	computeSparseJacobianInequalitiesNNZ () override

void	computeSparseJacobianInequalitiesStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col) override

void	computeSparseJacobianInequalitiesValues (Eigen::Ref< Eigen::VectorXd > values, const double *multipliers=nullptr) override

int	computeSparseJacobianLsqObjectiveNNZ () override

void	computeSparseJacobianLsqObjectiveStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col) override

void	computeSparseJacobianLsqObjectiveValues (Eigen::Ref< Eigen::VectorXd > values, const double *multipliers=nullptr) override

void	computeSparseJacobiansValues (Eigen::Ref< Eigen::VectorXd > values_obj, Eigen::Ref< Eigen::VectorXd > values_eq, Eigen::Ref< Eigen::VectorXd > values_ineq, const double multipliers_obj=nullptr, const double multipliers_eq=nullptr, const double *multipliers_ineq=nullptr, bool active_ineq=false, double active_ineq_weight=1.0) override

void	computeSparseJacobianTwoSideBoundedLinearForm (Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &A, bool include_finite_bounds, const Eigen::VectorXi *col_nnz=nullptr) override
	Compute the jacobian A for the linear form lbA <= A x <= lbB. More...

void	computeSparseJacobianTwoSideBoundedLinearFormAndHessianLagrangian (Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &H, const double multipliers_eq, const double multipliers_ineq, Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &A, bool include_finite_bounds, const Eigen::VectorXi col_nnz_H, const Eigen::VectorXi col_nnz_A, bool upper_part_only_H) override
	Compute the Jacobian and Hessian of the lagrangian. More...

void	computeSparseJacobianTwoSideBoundedLinearFormAndHessianObjective (Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &H, Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &A, bool include_finite_bounds, const Eigen::VectorXi col_nnz_H, const Eigen::VectorXi col_nnz_A, bool upper_part_only_H) override

int	computeSparseJacobianTwoSideBoundedLinearFormNNZ (bool include_finite_bounds) override

void	computeSparseJacobianTwoSideBoundedLinearFormNNZPerColumn (Eigen::Ref< Eigen::VectorXi > col_nnz, bool include_finite_bounds) override

void	computeSparseJacobianTwoSideBoundedLinearFormStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, bool include_finite_bounds) override

void	computeSparseJacobianTwoSideBoundedLinearFormValues (Eigen::Ref< Eigen::VectorXd > values, bool include_finite_bounds) override

BaseHyperGraphOptimizationProblem::Ptr	getInstance () const override

	HyperGraphOptimizationProblemEdgeBased ()=default

	HyperGraphOptimizationProblemEdgeBased (OptimizationEdgeSet::Ptr edges, VertexSetInterface::Ptr vertices)

Public Member Functions inherited from corbo::BaseHyperGraphOptimizationProblem
	BaseHyperGraphOptimizationProblem ()=default

	BaseHyperGraphOptimizationProblem (OptimizationEdgeSet::Ptr edges, VertexSetInterface::Ptr vertices)

HyperGraph &	getGraph ()

const HyperGraph &	getGraph () const

virtual void	precomputeEdgeQuantities ()

virtual void	precomputeGraphQuantities ()

virtual void	precomputeVertexQuantities ()

void	setGraph (OptimizationEdgeSet::Ptr edges, VertexSetInterface::Ptr vertices)

int	getNonLsqObjectiveDimension () override
	Total dimension of objective function terms. More...

int	getLsqObjectiveDimension () override
	Total dimension of least-squares objective function terms. More...

int	getObjectiveDimension () override
	Get dimension of the objective (should be zero or one, includes Lsq objectives if present) More...

int	getEqualityDimension () override
	Total dimension of equality constraints. More...

int	getInequalityDimension () override
	Total dimension of general inequality constraints. More...

double	computeValueNonLsqObjective () override

void	computeValuesLsqObjective (Eigen::Ref< Eigen::VectorXd > values) override
	Compute the objective function values f(x) for the current parameter set. More...

double	computeValueObjective () override

void	computeValuesEquality (Eigen::Ref< Eigen::VectorXd > values) override
	Compute the equality constraint values ceq(x) for the current parameter set. More...

void	computeValuesInequality (Eigen::Ref< Eigen::VectorXd > values) override
	Compute the inequality constraint values c(x) for the current parameter set. More...

void	computeValues (double &non_lsq_obj_value, Eigen::Ref< Eigen::VectorXd > lsq_obj_values, Eigen::Ref< Eigen::VectorXd > eq_values, Eigen::Ref< Eigen::VectorXd > ineq_values) override

double	getParameterValue (int idx) override
	Return specific value of the parameter vector. More...

void	setParameterValue (int idx, double x) override
	Set specific value of the parameter vector. More...

void	getParameterVector (Eigen::Ref< Eigen::VectorXd > x) override
	Return deep copy of the complete parameter vector. More...

void	setParameterVector (const Eigen::Ref< const Eigen::VectorXd > &x) override
	Set complete parameter vector. More...

void	getBounds (Eigen::Ref< Eigen::VectorXd > lb, Eigen::Ref< Eigen::VectorXd > ub) override
	Get lower and upper bound vector. More...

void	setBounds (const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub) override
	Set lower and upper bound vector. More...

double	getLowerBound (int idx) override
	Return specific lower bound value of a parameter. More...

double	getUpperBound (int idx) override
	Return specific upper bound of a parameter. More...

void	setLowerBound (int idx, double lb) override
	Set specific lower bound of a parameter. More...

void	setUpperBound (int idx, double ub) override
	Set specific upper bound of a parameter. More...

int	getParameterDimension () override
	Effictive dimension of the optimization parameter set (changeable, non-fixed part) More...

void	applyIncrement (const Eigen::Ref< const Eigen::VectorXd > &increment) override
	Apply increment to the current parameter set. More...

void	applyIncrement (int idx, double increment) override
	Apply increment to the current parameter set (single element overload) More...

void	backupParameters () override
	Restore parameter set from the last backup and keep backup if desired. More...

void	restoreBackupParameters (bool keep_backup) override
	Discard last backup (or all) More...

void	discardBackupParameters (bool all=false) override

bool	isLeastSquaresProblem () const override
	Check if the underlying problem is defined in the least squares form. More...

int	finiteCombinedBoundsDimension () override
	Dimension of the set of finite bounds (combined such that each ub and lb component define a single dimension) More...

int	finiteBoundsDimension () override
	Dimension of the set of finite bounds (individual bounds ub and lb) More...

void	computeValuesActiveInequality (Eigen::Ref< Eigen::VectorXd > values, double weight=1.0) override
	Compute the values of the active inequality constraints (elementwise max(0, c(x))) More...

void	computeDistanceFiniteCombinedBounds (Eigen::Ref< Eigen::VectorXd > values) override
	Compute the distance to finite bound values (combined lower and upper) More...

void	computeLowerAndUpperBoundDiff (Eigen::Ref< Eigen::VectorXd > lb_minus_x, Eigen::Ref< Eigen::VectorXd > ub_minus_x) override
	Compute the distance between parameters and bounds. More...

void	getParametersAndBoundsFinite (Eigen::Ref< Eigen::VectorXd > lb_finite_bounds, Eigen::Ref< Eigen::VectorXd > ub_finite_bounds, Eigen::Ref< Eigen::VectorXd > x_finite_bounds) override
	Return bound and parameter vectors only for finite boudns. More...

void	computeDenseJacobianFiniteCombinedBounds (Eigen::Ref< Eigen::MatrixXd > jacobian, double weight=1.0) override
	Compute the Jacobian for finite combined bounds. More...

int	computeSparseJacobianFiniteCombinedBoundsNNZ () override

void	computeSparseJacobianFiniteCombinedBoundsStructure (Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col) override

void	computeSparseJacobianFiniteCombinedBoundsValues (Eigen::Ref< Eigen::VectorXd > values, double weight=1.0) override

void	computeDenseJacobianFiniteCombinedBoundsIdentity (Eigen::Ref< Eigen::MatrixXd > jacobian) override
	Compute the Jacobian for finite combined bounds. More...

bool	checkIfAllUnfixedParam (std::function< bool(double, int)> fun)
	Check if a function taking the parameter value and unfixed-idx is true for all unfixed parameter values. More...

void	clear () override

Public Member Functions inherited from corbo::OptimizationProblemInterface
virtual	~OptimizationProblemInterface ()

virtual void	computeSparseJacobianLsqObjective (Eigen::SparseMatrix< double > &jacobian, const double *multipliers=nullptr)

virtual void	computeSparseJacobianEqualities (Eigen::SparseMatrix< double > &jacobian, const double *multipliers=nullptr)

virtual void	computeSparseJacobianInequalities (Eigen::SparseMatrix< double > &jacobian, const double *multipliers=nullptr)

virtual void	computeSparseJacobianActiveInequalities (Eigen::SparseMatrix< double > &jacobian, double weight=1.0)

virtual void	computeSparseJacobianFiniteCombinedBounds (Eigen::SparseMatrix< double > &jacobian, double weight=1.0)

virtual void	computeSparseJacobiansNNZ (int &nnz_lsq_obj, int &nnz_eq, int &nnz_ineq)

virtual void	computeSparseJacobiansStructure (Eigen::Ref< Eigen::VectorXi > i_row_obj, Eigen::Ref< Eigen::VectorXi > j_col_obj, Eigen::Ref< Eigen::VectorXi > i_row_eq, Eigen::Ref< Eigen::VectorXi > j_col_eq, Eigen::Ref< Eigen::VectorXi > i_row_ineq, Eigen::Ref< Eigen::VectorXi > j_col_ineq)

virtual void	computeSparseJacobians (Eigen::SparseMatrix< double > &jacobian_lsq_obj, Eigen::SparseMatrix< double > &jacobian_eq, Eigen::SparseMatrix< double > &jacobian_ineq, const double multipliers_lsq_obj=nullptr, const double multipliers_eq=nullptr, const double *multipliers_ineq=nullptr, bool active_ineq=false, double active_ineq_weight=1.0)

virtual void	computeDenseHessianObjective (const Eigen::Ref< const Eigen::MatrixXd > &jacobian, Eigen::Ref< Eigen::MatrixXd > hessian, const double *multipliers=nullptr, bool jacob_scaled=true)
	Compute the objective Hessian Hf(x) for the current parameter set. More...

virtual void	computeSparseHessianObjective (Eigen::SparseMatrix< double > &hessian, double multiplier=1.0)

virtual void	computeDenseHessianEqualities (Eigen::Ref< Eigen::MatrixXd > hessian, const double *multipliers=nullptr)

virtual void	computeSparseHessianEqualities (Eigen::SparseMatrix< double > &hessian, const double *multipliers=nullptr)

virtual void	computeDenseHessianInequalities (Eigen::Ref< Eigen::MatrixXd > hessian, const double *multipliers=nullptr)

virtual void	computeSparseHessianInequalities (Eigen::SparseMatrix< double > &hessian, const double *multipliers=nullptr)

virtual void	computeDenseHessians (Eigen::Ref< Eigen::MatrixXd > hessian_obj, Eigen::Ref< Eigen::MatrixXd > hessian_eq, Eigen::Ref< Eigen::MatrixXd > hessian_ineq, double multiplier_obj=1.0, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeSparseHessians (Eigen::SparseMatrix< double > &hessian_obj, Eigen::SparseMatrix< double > &hessian_eq, Eigen::SparseMatrix< double > &hessian_ineq, double multiplier_obj=1.0, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeBoundsForTwoSideBoundedLinearForm (Eigen::Ref< Eigen::VectorXd > lbA, Eigen::Ref< Eigen::VectorXd > ubA, bool include_finite_bounds)
	Compute lower and upper bounds lbA and ubA for the linear form lbA <= A x <= ubA. More...

Additional Inherited Members
Public Types inherited from corbo::BaseHyperGraphOptimizationProblem
using	Ptr = std::shared_ptr< BaseHyperGraphOptimizationProblem >

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

using	UPtr = std::unique_ptr< OptimizationProblemInterface >

Static Public Member Functions inherited from corbo::BaseHyperGraphOptimizationProblem
static Factory< BaseHyperGraphOptimizationProblem > &	getFactory ()
	Get access to the accociated factory. More...

Protected Attributes inherited from corbo::BaseHyperGraphOptimizationProblem
HyperGraph	_graph

bool	_graph_precomputed = false

int	_dim_param = 0

int	_dim_non_lsq_obj = 0

int	_dim_lsq_obj = 0

int	_dim_eq = 0

int	_dim_ineq = 0

Protected Attributes inherited from corbo::OptimizationProblemInterface
bool	_warn_if_not_specialized = true

Detailed Description

Definition at line 56 of file hyper_graph_optimization_problem_edge_based.h.

Constructor & Destructor Documentation

◆ HyperGraphOptimizationProblemEdgeBased() [1/2]

corbo::HyperGraphOptimizationProblemEdgeBased::HyperGraphOptimizationProblemEdgeBased ( )

default

◆ HyperGraphOptimizationProblemEdgeBased() [2/2]

corbo::HyperGraphOptimizationProblemEdgeBased::HyperGraphOptimizationProblemEdgeBased	(	OptimizationEdgeSet::Ptr	edges,
		VertexSetInterface::Ptr	vertices
	)

inline

Definition at line 82 of file hyper_graph_optimization_problem_edge_based.h.

Member Function Documentation

◆ computeCombinedSparseJacobian()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeCombinedSparseJacobian	(	Eigen::SparseMatrix< double > &	jacobian,
		bool	objective_lsq,
		bool	equality,
		bool	inequality,
		bool	finite_combined_bounds,
		bool	active_ineq = `false`,
		double	weight_eq = `1.0`,
		double	weight_ineq = `1.0`,
		double	weight_bounds = `1.0`,
		const Eigen::VectorXd *	values = `nullptr`,
		const Eigen::VectorXi *	col_nnz = `nullptr`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1502 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeCombinedSparseJacobiansNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeCombinedSparseJacobiansNNZ	(	bool	objective_lsq = `true`,
		bool	equality = `true`,
		bool	inequality = `true`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1203 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeCombinedSparseJacobiansStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeCombinedSparseJacobiansStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		bool	objective_lsq = `true`,
		bool	equality = `true`,
		bool	inequality = `true`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1211 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeCombinedSparseJacobiansValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeCombinedSparseJacobiansValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		bool	objective_lsq = `true`,
		bool	equality = `true`,
		bool	inequality = `true`,
		const double *	multipliers_obj = `nullptr`,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1374 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeDenseHessianObjective()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeDenseHessianObjective	(	Eigen::Ref< Eigen::MatrixXd >	hessian,
		double	multiplier = `1.0`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1960 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeDenseJacobianActiveInequalities()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeDenseJacobianActiveInequalities	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		double	weight = `1.0`
	)

overridevirtual

Compute the Jacobian Jc(x) with non-zeros for active constraints c(x)>= 0 and zeros for inactive ones.

Parameters

[out]	jacobian	The resulting Jacobian matrix [inequalityDimension() x parameterDimension()]. Warning: the matrix must be pre-allocated with ZEROS!
[in]	weight	Optionally provide a weight factor

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 697 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeDenseJacobianEqualities()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeDenseJacobianEqualities	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const double *	multipliers = `nullptr`
	)

overridevirtual

Compute the equality constraint Jacobian Jceq(x) for the current parameter set.

Parameters

[out]	jacobian	The resulting Jacobian matrix [equalityDimension() x parameterDimension()]. Warning: the matrix must be pre-allocated with ZEROS!
[in]	multipliers	Optionally provide a vector of multipliers to scale each cost function term [equalityDimension() x 1]

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 346 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeDenseJacobianInequalities()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeDenseJacobianInequalities	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const double *	multipliers = `nullptr`
	)

overridevirtual

Compute the inequality constraint Jacobian Jc(x) for the current parameter set.

Parameters

[out]	jacobian	The resulting Jacobian matrix [inequalityDimension() x parameterDimension()]. Warning: the matrix must be pre-allocated with ZEROS!
[in]	multipliers	Optionally provide a vector of multipliers to scale each cost function term [inequalityDimension() x 1]

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 521 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeDenseJacobianLsqObjective()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeDenseJacobianLsqObjective	(	Eigen::Ref< Eigen::MatrixXd >	jacobian,
		const double *	multipliers = `nullptr`
	)

overridevirtual

Compute the objective Jacobian Jf(x) for the current parameter set.

Parameters

[out]	jacobian	The resulting Jacobian matrix [objectiveDimension() x parameterDimension()]. Warning: the matrix must be pre-allocated with ZEROS!
[in]	multipliers	Optionally provide a vector of multipliers to scale each cost function term [objectiveDimension() x 1]

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 172 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeDenseJacobians()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeDenseJacobians	(	Eigen::Ref< Eigen::VectorXd >	gradient_non_lsq_obj,
		Eigen::Ref< Eigen::MatrixXd >	jacobian_lsq_obj,
		Eigen::Ref< Eigen::MatrixXd >	jacobian_eq,
		Eigen::Ref< Eigen::MatrixXd >	jacobian_ineq,
		const double *	multipliers_lsq_obj = `nullptr`,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`,
		bool	active_ineq = `false`,
		double	active_ineq_weight = `1.0`
	)

overridevirtual

Compute the objective and constraint Jacobians at once.

Use this method to speed up Jacobian computation if possible. The default implementation just calls the individual Jacobian computations.

Remarks: This method does not compute Jacobians for bounds due to their simplicity, compute them manually.

Parameters

[out]	jacobian_obj	The resulting objective Jacobian matrix [objectiveDimension() x parameterDimension()]. Warning: the matrix must be pre-allocated with ZEROS!
[out]	jacobian_eq	The resulting equality constraint Jacobian matrix [equalityDimension() x parameterDimension()]. Warning: the matrix must be pre-allocated with ZEROS!
[out]	jacobian_ineq	The resulting inequality constraint Jacobian matrix [inequalityDimension() x parameterDimension()]. Warning: the matrix must be pre-allocated with ZEROS!
[in]	multipliers	Optionally provide a vector of multipliers to scale each cost function term [objectiveDimension() + equalityDimension() + inequalityDimension() x 1]

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 863 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeGradientNonLsqObjective()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeGradientNonLsqObjective ( Eigen::Ref< Eigen::VectorXd > gradient )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 126 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeGradientObjective()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeGradientObjective ( Eigen::Ref< Eigen::VectorXd > gradient )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 53 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeGradientObjectiveAndCombinedSparseJacobiansValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeGradientObjectiveAndCombinedSparseJacobiansValues	(	Eigen::Ref< Eigen::VectorXd >	gradient,
		Eigen::Ref< Eigen::VectorXd >	jac_values,
		bool	equality = `true`,
		bool	inequality = `true`,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1778 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianEqualitiesNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianEqualitiesNNZ ( bool lower_part_only = false )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 2891 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianEqualitiesStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianEqualitiesStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 2965 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianEqualitiesValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianEqualitiesValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		const double *	multipliers = `nullptr`,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 3074 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianInequalitiesNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianInequalitiesNNZ ( bool lower_part_only = false )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 3194 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianInequalitiesStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianInequalitiesStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 3268 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianInequalitiesValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianInequalitiesValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		const double *	multipliers = `nullptr`,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 3377 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianLagrangian()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianLagrangian	(	Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &	H,
		const double *	multipliers_eq,
		const double *	multipliers_ineq,
		const Eigen::VectorXi *	col_nnz = `nullptr`,
		bool	upper_part_only = `false`
	)

overridevirtual

Compute the hessian of the lagrangian L(x) = f(x) + lambda1 * c(x) + lambda2 * ceq(x)

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4044 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianLagrangianNNZperCol()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianLagrangianNNZperCol	(	Eigen::Ref< Eigen::VectorXi >	col_nnz,
		bool	upper_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4400 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianObjectiveLL()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianObjectiveLL	(	Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &	H,
		const Eigen::VectorXi *	col_nnz = `nullptr`,
		bool	upper_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 2573 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianObjectiveNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianObjectiveNNZ ( bool lower_part_only = false )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 2109 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianObjectiveNNZperCol()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianObjectiveNNZperCol	(	Eigen::Ref< Eigen::VectorXi >	col_nnz,
		bool	upper_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 2770 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianObjectiveStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianObjectiveStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 2214 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessianObjectiveValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessianObjectiveValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		double	multiplier = `1.0`,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 2372 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessiansNNZ()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessiansNNZ	(	int &	nnz_obj,
		int &	nnz_eq,
		int &	nnz_ineq,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 3497 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessiansStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessiansStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row_obj,
		Eigen::Ref< Eigen::VectorXi >	j_col_obj,
		Eigen::Ref< Eigen::VectorXi >	i_row_eq,
		Eigen::Ref< Eigen::VectorXi >	j_col_eq,
		Eigen::Ref< Eigen::VectorXi >	i_row_ineq,
		Eigen::Ref< Eigen::VectorXi >	j_col_ineq,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 3505 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseHessiansValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseHessiansValues	(	Eigen::Ref< Eigen::VectorXd >	values_obj,
		Eigen::Ref< Eigen::VectorXd >	values_eq,
		Eigen::Ref< Eigen::VectorXd >	values_ineq,
		double	multiplier_obj = `1.0`,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`,
		bool	lower_part_only = `false`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 3513 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianActiveInequalitiesValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianActiveInequalitiesValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		double	weight = `1.0`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 776 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianEqualitiesNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianEqualitiesNNZ ( )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 390 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianEqualitiesStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianEqualitiesStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 420 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianEqualitiesValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianEqualitiesValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		const double *	multipliers = `nullptr`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 482 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianInequalitiesNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianInequalitiesNNZ ( )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 566 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianInequalitiesStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianInequalitiesStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 596 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianInequalitiesValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianInequalitiesValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		const double *	multipliers = `nullptr`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 658 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianLsqObjectiveNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianLsqObjectiveNNZ ( )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 215 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianLsqObjectiveStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianLsqObjectiveStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 245 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianLsqObjectiveValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianLsqObjectiveValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		const double *	multipliers = `nullptr`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 307 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobiansValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobiansValues	(	Eigen::Ref< Eigen::VectorXd >	values_obj,
		Eigen::Ref< Eigen::VectorXd >	values_eq,
		Eigen::Ref< Eigen::VectorXd >	values_ineq,
		const double *	multipliers_obj = `nullptr`,
		const double *	multipliers_eq = `nullptr`,
		const double *	multipliers_ineq = `nullptr`,
		bool	active_ineq = `false`,
		double	active_ineq_weight = `1.0`
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1039 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianTwoSideBoundedLinearForm()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianTwoSideBoundedLinearForm	(	Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &	A,
		bool	include_finite_bounds,
		const Eigen::VectorXi *	col_nnz = `nullptr`
	)

overridevirtual

Compute the jacobian A for the linear form lbA <= A x <= lbB.

Especially some QP solvers require either

 lbA <= A x<= ubA

or

lbA <= A x <= ubA lb <= x <= ub

The first formulatin includes bounds and hence the bottom rows of A are the identity. However, in case lb and ub are infinity, A might have obsolete rows.

If parameter include_bounds is true: only finite bounds are considered and matrix A is of size [getEqualityDimension() + getInequalityDimension() + finiteCombinedBounds() x parameterDimension()].

If parameter include_bounds is false: the size of matrix A is [getEqualityDimension() + getInequalityDimension() x parameterDimension()].

Remarks: this version defines the sparse matrix with long long indices (since it is required by osqp for example)

Parameters

[out]	A	Combined jacobian (see description above)
[in]	include_finite_bounds	Specify whether bounds should be included in A (check dimension of A as descirbed above)
[in]	col_nnz	Estimate for number of nnz per column to speed up insertion

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4593 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianTwoSideBoundedLinearFormAndHessianLagrangian()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianTwoSideBoundedLinearFormAndHessianLagrangian	(	Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &	H,
		const double *	multipliers_eq,
		const double *	multipliers_ineq,
		Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &	A,
		bool	include_finite_bounds,
		const Eigen::VectorXi *	col_nnz_H,
		const Eigen::VectorXi *	col_nnz_A,
		bool	upper_part_only_H
	)

overridevirtual

Compute the Jacobian and Hessian of the lagrangian.

This method combines computeSparseJacobianTwoSideBoundedLinearForm() and computeSparseHessianLagrangian() in order to speed up computation. Often, Hessian computations rely on first order derivatives and so we do not need to compute the Jacobian twice.

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4991 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianTwoSideBoundedLinearFormAndHessianObjective()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianTwoSideBoundedLinearFormAndHessianObjective	(	Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &	H,
		Eigen::SparseMatrix< double, Eigen::ColMajor, long long > &	A,
		bool	include_finite_bounds,
		const Eigen::VectorXi *	col_nnz_H,
		const Eigen::VectorXi *	col_nnz_A,
		bool	upper_part_only_H
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 5415 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianTwoSideBoundedLinearFormNNZ()

int corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianTwoSideBoundedLinearFormNNZ ( bool include_finite_bounds )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4784 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianTwoSideBoundedLinearFormNNZPerColumn()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianTwoSideBoundedLinearFormNNZPerColumn	(	Eigen::Ref< Eigen::VectorXi >	col_nnz,
		bool	include_finite_bounds
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4713 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianTwoSideBoundedLinearFormStructure()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianTwoSideBoundedLinearFormStructure	(	Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		bool	include_finite_bounds
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4793 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ computeSparseJacobianTwoSideBoundedLinearFormValues()

void corbo::HyperGraphOptimizationProblemEdgeBased::computeSparseJacobianTwoSideBoundedLinearFormValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		bool	include_finite_bounds
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 4926 of file hyper_graph_optimization_problem_edge_based.cpp.

◆ getInstance()

BaseHyperGraphOptimizationProblem::Ptr corbo::HyperGraphOptimizationProblemEdgeBased::getInstance ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseHyperGraphOptimizationProblem.

Definition at line 87 of file hyper_graph_optimization_problem_edge_based.h.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HyperGraphOptimizationProblemEdgeBased() [1/2]

◆ HyperGraphOptimizationProblemEdgeBased() [2/2]

Member Function Documentation

◆ computeCombinedSparseJacobian()

◆ computeCombinedSparseJacobiansNNZ()

◆ computeCombinedSparseJacobiansStructure()

◆ computeCombinedSparseJacobiansValues()

◆ computeDenseHessianObjective()

◆ computeDenseJacobianActiveInequalities()

◆ computeDenseJacobianEqualities()

◆ computeDenseJacobianInequalities()

◆ computeDenseJacobianLsqObjective()

◆ computeDenseJacobians()

◆ computeGradientNonLsqObjective()

◆ computeGradientObjective()

◆ computeGradientObjectiveAndCombinedSparseJacobiansValues()

◆ computeSparseHessianEqualitiesNNZ()

◆ computeSparseHessianEqualitiesStructure()

◆ computeSparseHessianEqualitiesValues()

◆ computeSparseHessianInequalitiesNNZ()

◆ computeSparseHessianInequalitiesStructure()

◆ computeSparseHessianInequalitiesValues()

◆ computeSparseHessianLagrangian()

◆ computeSparseHessianLagrangianNNZperCol()

◆ computeSparseHessianObjectiveLL()

◆ computeSparseHessianObjectiveNNZ()

◆ computeSparseHessianObjectiveNNZperCol()

◆ computeSparseHessianObjectiveStructure()

◆ computeSparseHessianObjectiveValues()

◆ computeSparseHessiansNNZ()

◆ computeSparseHessiansStructure()

◆ computeSparseHessiansValues()

◆ computeSparseJacobianActiveInequalitiesValues()

◆ computeSparseJacobianEqualitiesNNZ()

◆ computeSparseJacobianEqualitiesStructure()

◆ computeSparseJacobianEqualitiesValues()

◆ computeSparseJacobianInequalitiesNNZ()

◆ computeSparseJacobianInequalitiesStructure()

◆ computeSparseJacobianInequalitiesValues()

◆ computeSparseJacobianLsqObjectiveNNZ()

◆ computeSparseJacobianLsqObjectiveStructure()

◆ computeSparseJacobianLsqObjectiveValues()

◆ computeSparseJacobiansValues()

◆ computeSparseJacobianTwoSideBoundedLinearForm()

◆ computeSparseJacobianTwoSideBoundedLinearFormAndHessianLagrangian()

◆ computeSparseJacobianTwoSideBoundedLinearFormAndHessianObjective()

◆ computeSparseJacobianTwoSideBoundedLinearFormNNZ()

◆ computeSparseJacobianTwoSideBoundedLinearFormNNZPerColumn()

◆ computeSparseJacobianTwoSideBoundedLinearFormStructure()

◆ computeSparseJacobianTwoSideBoundedLinearFormValues()

◆ getInstance()