#include <hyper_graph_optimization_problem_vertex_based.h>

Inheritance diagram for corbo::HyperGraphOptimizationProblemVertexBased:

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	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	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

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) override

BaseHyperGraphOptimizationProblem::Ptr	getInstance () const override

	HyperGraphOptimizationProblemVertexBased ()=default

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

void	precomputeEdgeQuantities () override

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

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

HyperGraph &	getGraph ()

const HyperGraph &	getGraph () const

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	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)
	Compute the objective and constraint Jacobians at once. More...

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	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)

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

virtual int	computeSparseHessianObjectiveNNZ (bool lower_part_only=false)

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

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

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

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

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

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

virtual int	computeSparseHessianEqualitiesNNZ (bool lower_part_only=false)

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

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

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

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

virtual int	computeSparseHessianInequalitiesNNZ (bool lower_part_only=false)

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

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

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

virtual 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)

virtual 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)

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

virtual void	computeSparseHessianLagrangianNNZperCol (Eigen::Ref< Eigen::VectorXi > col_nnz, bool upper_part_only)

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

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

virtual int	computeSparseJacobianTwoSideBoundedLinearFormNNZ (bool include_finite_bounds)

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

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

virtual 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=nullptr, const Eigen::VectorXi col_nnz_A=nullptr, bool upper_part_only_H=false)
	Compute the Jacobian and Hessian of the lagrangian. More...

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...

virtual 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)

Protected Member Functions
void	computeEqualitiesJacobianStructureForVertex (const VertexInterface *vertex, int vtx_idx, Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, int &nnz_idx, int row_offset=0)

void	computeEqualitiesValuesCached (const VertexInterface *vertex, bool include_nonmixed=true, bool include_mixed=true, bool precompute_mixed=true)

void	computeInequalitiesJacobianStructureForVertex (const VertexInterface *vertex, int vtx_idx, Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, int &nnz_idx, int row_offset=0)

void	computeInequalitiesValuesCached (const VertexInterface *vertex, bool include_nonmixed=true, bool include_mixed=true, bool precompute_mixed=true)

void	computeLsqObjectiveJacobianStructureForVertex (const VertexInterface *vertex, int vtx_idx, Eigen::Ref< Eigen::VectorXi > i_row, Eigen::Ref< Eigen::VectorXi > j_col, int &nnz_idx, int row_offset=0)

void	computeLsqObjectiveValuesCached (const VertexInterface *vertex, bool include_nonmixed=true, bool include_mixed=true, bool precompute_mixed=true)

void	computeObjectiveValuesCached (const VertexInterface *vertex, bool include_lsq_edges, bool include_nonmixed=true, bool include_mixed=true)

void	finalizeActiveInequalitiesJacobian (const VertexInterface *vertex, int vtx_idx, Eigen::Ref< Eigen::MatrixXd > &jacobian, double weight=1.0, bool include_nonmixed=true, bool include_mixed=true)

void	finalizeActiveInequalitiesJacobianSparseValues (const VertexInterface *vertex, int &nnz_idx, Eigen::Ref< Eigen::VectorXd > &values, double weight=1.0)

void	finalizeEqualitiesJacobian (const VertexInterface vertex, int vtx_idx, Eigen::Ref< Eigen::MatrixXd > &jacobian, const double multipliers=nullptr, bool include_nonmixed=true, bool include_mixed=true, bool precompute_mixed=true)

void	finalizeEqualitiesJacobianSparseValues (const VertexInterface vertex, int &nnz_idx, Eigen::Ref< Eigen::VectorXd > &values, const double multipliers=nullptr, bool precompute_mixed=true)

void	finalizeInequalitiesJacobian (const VertexInterface vertex, int vtx_idx, Eigen::Ref< Eigen::MatrixXd > &jacobian, const double multipliers=nullptr, bool include_nonmixed=true, bool include_mixed=true, bool precompute_mixed=true)

void	finalizeInequalitiesJacobianSparseValues (const VertexInterface vertex, int &nnz_idx, Eigen::Ref< Eigen::VectorXd > &values, const double multipliers=nullptr, bool precompute_mixed=true)

void	finalizeLsqObjectiveJacobian (const VertexInterface vertex, int vtx_idx, Eigen::Ref< Eigen::MatrixXd > &jacobian, const double multipliers=nullptr, bool include_nonmixed=true, bool include_mixed=true)

void	finalizeLsqObjectiveJacobianSparseValues (const VertexInterface vertex, int &nnz_idx, Eigen::Ref< Eigen::VectorXd > &values, const double multipliers=nullptr, bool precompute_mixed=true)

void	finalizeObjectiveGradient (const VertexInterface *vertex, double &gradient_coeff, bool include_lsq_edges, bool include_nonmixed=true, bool include_mixed=true, bool precompute_mixed=true)

void	precomputeConnectedMixedEdges (const VertexInterface *vertex, bool objective=true, bool equality=true, bool inequality=true)

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_vertex_based.h.

Constructor & Destructor Documentation

◆ HyperGraphOptimizationProblemVertexBased() [1/2]

corbo::HyperGraphOptimizationProblemVertexBased::HyperGraphOptimizationProblemVertexBased ( )

default

◆ HyperGraphOptimizationProblemVertexBased() [2/2]

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

inline

Definition at line 82 of file hyper_graph_optimization_problem_vertex_based.h.

Member Function Documentation

◆ computeCombinedSparseJacobian()

void corbo::HyperGraphOptimizationProblemVertexBased::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 1356 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeCombinedSparseJacobiansNNZ()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1272 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeCombinedSparseJacobiansStructure()

void corbo::HyperGraphOptimizationProblemVertexBased::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 1280 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeCombinedSparseJacobiansValues()

void corbo::HyperGraphOptimizationProblemVertexBased::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 1311 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeDenseJacobianActiveInequalities()

void corbo::HyperGraphOptimizationProblemVertexBased::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 1198 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeDenseJacobianEqualities()

void corbo::HyperGraphOptimizationProblemVertexBased::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 949 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeDenseJacobianInequalities()

void corbo::HyperGraphOptimizationProblemVertexBased::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 1073 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeDenseJacobianLsqObjective()

void corbo::HyperGraphOptimizationProblemVertexBased::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 825 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeEqualitiesJacobianStructureForVertex()

void corbo::HyperGraphOptimizationProblemVertexBased::computeEqualitiesJacobianStructureForVertex	(	const VertexInterface *	vertex,
		int	vtx_idx,
		Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		int &	nnz_idx,
		int	row_offset = `0`
	)

protected

Definition at line 397 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeEqualitiesValuesCached()

void corbo::HyperGraphOptimizationProblemVertexBased::computeEqualitiesValuesCached	(	const VertexInterface *	vertex,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 323 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeGradientNonLsqObjective()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 793 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeGradientObjective()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 759 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeGradientObjectiveAndCombinedSparseJacobiansValues()

void corbo::HyperGraphOptimizationProblemVertexBased::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 1366 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeInequalitiesJacobianStructureForVertex()

void corbo::HyperGraphOptimizationProblemVertexBased::computeInequalitiesJacobianStructureForVertex	(	const VertexInterface *	vertex,
		int	vtx_idx,
		Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		int &	nnz_idx,
		int	row_offset = `0`
	)

protected

Definition at line 616 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeInequalitiesValuesCached()

void corbo::HyperGraphOptimizationProblemVertexBased::computeInequalitiesValuesCached	(	const VertexInterface *	vertex,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 476 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeLsqObjectiveJacobianStructureForVertex()

void corbo::HyperGraphOptimizationProblemVertexBased::computeLsqObjectiveJacobianStructureForVertex	(	const VertexInterface *	vertex,
		int	vtx_idx,
		Eigen::Ref< Eigen::VectorXi >	i_row,
		Eigen::Ref< Eigen::VectorXi >	j_col,
		int &	nnz_idx,
		int	row_offset = `0`
	)

protected

Definition at line 242 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeLsqObjectiveValuesCached()

void corbo::HyperGraphOptimizationProblemVertexBased::computeLsqObjectiveValuesCached	(	const VertexInterface *	vertex,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 166 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeObjectiveValuesCached()

void corbo::HyperGraphOptimizationProblemVertexBased::computeObjectiveValuesCached	(	const VertexInterface *	vertex,
		bool	include_lsq_edges,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`
	)

protected

Definition at line 86 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianActiveInequalitiesValues()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1235 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianEqualitiesNNZ()

int corbo::HyperGraphOptimizationProblemVertexBased::computeSparseJacobianEqualitiesNNZ ( )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 985 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianEqualitiesStructure()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1015 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianEqualitiesValues()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1039 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianInequalitiesNNZ()

int corbo::HyperGraphOptimizationProblemVertexBased::computeSparseJacobianInequalitiesNNZ ( )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1109 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianInequalitiesStructure()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1139 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianInequalitiesValues()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 1164 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianLsqObjectiveNNZ()

int corbo::HyperGraphOptimizationProblemVertexBased::computeSparseJacobianLsqObjectiveNNZ ( )

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 861 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianLsqObjectiveStructure()

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

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 891 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ computeSparseJacobianLsqObjectiveValues()

void corbo::HyperGraphOptimizationProblemVertexBased::computeSparseJacobianLsqObjectiveValues	(	Eigen::Ref< Eigen::VectorXd >	values,
		const double *	multipliers
	)

overridevirtual

Reimplemented from corbo::OptimizationProblemInterface.

Definition at line 915 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeActiveInequalitiesJacobian()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeActiveInequalitiesJacobian	(	const VertexInterface *	vertex,
		int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd > &	jacobian,
		double	weight = `1.0`,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`
	)

protected

Definition at line 550 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeActiveInequalitiesJacobianSparseValues()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeActiveInequalitiesJacobianSparseValues	(	const VertexInterface *	vertex,
		int &	nnz_idx,
		Eigen::Ref< Eigen::VectorXd > &	values,
		double	weight = `1.0`
	)

protected

Definition at line 697 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeEqualitiesJacobian()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeEqualitiesJacobian	(	const VertexInterface *	vertex,
		int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd > &	jacobian,
		const double *	multipliers = `nullptr`,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 346 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeEqualitiesJacobianSparseValues()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeEqualitiesJacobianSparseValues	(	const VertexInterface *	vertex,
		int &	nnz_idx,
		Eigen::Ref< Eigen::VectorXd > &	values,
		const double *	multipliers = `nullptr`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 429 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeInequalitiesJacobian()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeInequalitiesJacobian	(	const VertexInterface *	vertex,
		int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd > &	jacobian,
		const double *	multipliers = `nullptr`,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 499 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeInequalitiesJacobianSparseValues()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeInequalitiesJacobianSparseValues	(	const VertexInterface *	vertex,
		int &	nnz_idx,
		Eigen::Ref< Eigen::VectorXd > &	values,
		const double *	multipliers = `nullptr`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 648 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeLsqObjectiveJacobian()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeLsqObjectiveJacobian	(	const VertexInterface *	vertex,
		int	vtx_idx,
		Eigen::Ref< Eigen::MatrixXd > &	jacobian,
		const double *	multipliers = `nullptr`,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`
	)

protected

Definition at line 190 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeLsqObjectiveJacobianSparseValues()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeLsqObjectiveJacobianSparseValues	(	const VertexInterface *	vertex,
		int &	nnz_idx,
		Eigen::Ref< Eigen::VectorXd > &	values,
		const double *	multipliers = `nullptr`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 275 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ finalizeObjectiveGradient()

void corbo::HyperGraphOptimizationProblemVertexBased::finalizeObjectiveGradient	(	const VertexInterface *	vertex,
		double &	gradient_coeff,
		bool	include_lsq_edges,
		bool	include_nonmixed = `true`,
		bool	include_mixed = `true`,
		bool	precompute_mixed = `true`
	)

protected

Definition at line 120 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ getInstance()

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

inlineoverridevirtual

Reimplemented from corbo::BaseHyperGraphOptimizationProblem.

Definition at line 87 of file hyper_graph_optimization_problem_vertex_based.h.

◆ precomputeConnectedMixedEdges()

void corbo::HyperGraphOptimizationProblemVertexBased::precomputeConnectedMixedEdges	(	const VertexInterface *	vertex,
		bool	objective = `true`,
		bool	equality = `true`,
		bool	inequality = `true`
	)

protected

Definition at line 72 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ precomputeEdgeQuantities()

void corbo::HyperGraphOptimizationProblemVertexBased::precomputeEdgeQuantities ( )

overridevirtual

Reimplemented from corbo::BaseHyperGraphOptimizationProblem.

Definition at line 55 of file hyper_graph_optimization_problem_vertex_based.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HyperGraphOptimizationProblemVertexBased() [1/2]

◆ HyperGraphOptimizationProblemVertexBased() [2/2]

Member Function Documentation

◆ computeCombinedSparseJacobian()

◆ computeCombinedSparseJacobiansNNZ()

◆ computeCombinedSparseJacobiansStructure()

◆ computeCombinedSparseJacobiansValues()

◆ computeDenseJacobianActiveInequalities()

◆ computeDenseJacobianEqualities()

◆ computeDenseJacobianInequalities()

◆ computeDenseJacobianLsqObjective()

◆ computeEqualitiesJacobianStructureForVertex()

◆ computeEqualitiesValuesCached()

◆ computeGradientNonLsqObjective()

◆ computeGradientObjective()

◆ computeGradientObjectiveAndCombinedSparseJacobiansValues()

◆ computeInequalitiesJacobianStructureForVertex()

◆ computeInequalitiesValuesCached()

◆ computeLsqObjectiveJacobianStructureForVertex()

◆ computeLsqObjectiveValuesCached()

◆ computeObjectiveValuesCached()

◆ computeSparseJacobianActiveInequalitiesValues()

◆ computeSparseJacobianEqualitiesNNZ()

◆ computeSparseJacobianEqualitiesStructure()

◆ computeSparseJacobianEqualitiesValues()

◆ computeSparseJacobianInequalitiesNNZ()

◆ computeSparseJacobianInequalitiesStructure()

◆ computeSparseJacobianInequalitiesValues()

◆ computeSparseJacobianLsqObjectiveNNZ()

◆ computeSparseJacobianLsqObjectiveStructure()

◆ computeSparseJacobianLsqObjectiveValues()

◆ finalizeActiveInequalitiesJacobian()

◆ finalizeActiveInequalitiesJacobianSparseValues()

◆ finalizeEqualitiesJacobian()

◆ finalizeEqualitiesJacobianSparseValues()

◆ finalizeInequalitiesJacobian()

◆ finalizeInequalitiesJacobianSparseValues()

◆ finalizeLsqObjectiveJacobian()

◆ finalizeLsqObjectiveJacobianSparseValues()

◆ finalizeObjectiveGradient()

◆ getInstance()

◆ precomputeConnectedMixedEdges()

◆ precomputeEdgeQuantities()