Vertex implementation that stores an Eigen::VectorXd (dynamic dimension) More...

#include <vector_vertex.h>

Inheritance diagram for corbo::VectorVertex:

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

using	UPtr = std::unique_ptr< VectorVertex >

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

using	UPtr = std::unique_ptr< VertexInterface >

Public Member Functions
void	clear () override
	Clear complete backup container. More...

void	discardTop () override
	Delete the previously made backup from the stack without restoring it. More...

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

double *	getDataRaw () override
	Get write access to the values of the vertex. More...

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

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

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

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

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

int	getNumberFiniteLowerBounds (bool unfixed_only) const override
	Get number of finite lower bounds. More...

int	getNumberFiniteUpperBounds (bool unfixed_only) const override
	Get number of finite upper bounds. More...

const double *	getUpperBounds () const override
	Read-only raw access to upper bounds [getDimension() x 1]. More...

bool	hasFiniteBounds () const override
	Check if finite bounds (lower or upper) are provided. More...

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

bool	hasFiniteLowerBounds () const override
	Check if finite lower bounds are provided. More...

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

bool	hasFiniteUpperBounds () const override
	Check if finite upper bounds are provided. More...

bool	hasFixedComponents () const override
	Check if the vertex has fixed components. More...

bool	isFixedComponent (int) const override
	Check if individual components are fixed or unfixed. More...

const Eigen::VectorXd &	lowerBound () const
	Read-access to the underlying lower bound vector. More...

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

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

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

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

void	push () override
	Store all values into a internal backup stack. More...

virtual void	set (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false)
	Set values and bounds at once. More...

void	setData (int idx, double data) override
	Write data to to a specific component. More...

virtual void	setDimension (int dim)
	Change the dimension of the vertex (lower and upper bounds needs to be redefined) More...

virtual void	setFixed (bool fixed)
	Set complete vertex to fixed (and hence skip during optimization) More...

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

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

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

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

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

const Eigen::VectorXd &	upperBound () const
	Read-access to the underlying upper bound vector. More...

Eigen::VectorXd &	values ()
	Write-access to the underlying value vector. More...

const Eigen::VectorXd &	values () const
	Read-access to the underlying value vector. More...

	VectorVertex ()=default
	Default constructor. More...

	VectorVertex (bool fixed)

	VectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, bool fixed=false)
	Construct vertex with given values. More...

	VectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false)
	Construct vertex with given values, lower and upper bounds. More...

	VectorVertex (int dimension, bool fixed=false)
	Construct and allocate memory for a given dimension. More...

Public Member Functions inherited from corbo::VertexInterface
virtual void	clearBackups ()

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

const std::set< BaseEdge * > &	getConnectedEqualityEdgesRef () const
	Raw access for connected equality constraint edges. More...

const std::set< BaseEdge * > &	getConnectedInequalityEdgesRef () const
	Raw access for connected inequality constraint edges. More...

const std::set< BaseEdge * > &	getConnectedLsqObjectiveEdgesRef () const
	Raw access for connected least-squares objective edges. More...

const std::set< BaseMixedEdge * > &	getConnectedMixedEdgesRef () const
	Raw access for connected mixed edges. More...

const std::set< BaseEdge * > &	getConnectedObjectiveEdgesRef () const
	Raw access for connected objective edges. More...

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

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

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

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

int	getVertexIdx () const
	Retrieve current edge index (warning, this value is determined within the related VertexSetInterface implementation) More...

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

void	registerEqualityEdge (BaseEdge *edge)
	Register an adjacent equality constraint edge. More...

void	registerInequalityEdge (BaseEdge *edge)
	Register an adjacent inequality constraint edge. More...

void	registerLsqObjectiveEdge (BaseEdge *edge)
	Register an adjacent least-squares objective edge. More...

void	registerMixedEdge (BaseMixedEdge *edge)
	Register an adjacent mixed edge. More...

void	registerObjectiveEdge (BaseEdge *edge)
	Register an adjacent objective edge. More...

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

Protected Attributes
std::vector< Eigen::VectorXd >	_backup

bool	_finite_lb_bounds = false

bool	_finite_ub_bounds = false

bool	_fixed = false

Eigen::VectorXd	_lb

Eigen::VectorXd	_ub

Eigen::VectorXd	_values

Detailed Description

Vertex implementation that stores an Eigen::VectorXd (dynamic dimension)

The vertex can be either completely fixed or unfixed. In order to partially fix components of the underlying vector refer to class PartiallyFixedVectorVertex.

See also: VertexInterface PartiallyFixedVectorVertex HyperGraph EdgeInterface ScalarVertex

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 73 of file vector_vertex.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 98 of file vector_vertex.h.

◆ UPtr

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

Definition at line 99 of file vector_vertex.h.

Constructor & Destructor Documentation

◆ VectorVertex() [1/5]

corbo::VectorVertex::VectorVertex ( )

default

Default constructor.

◆ VectorVertex() [2/5]

corbo::VectorVertex::VectorVertex ( bool fixed )

inlineexplicit

Definition at line 104 of file vector_vertex.h.

◆ VectorVertex() [3/5]

corbo::VectorVertex::VectorVertex	(	int	dimension,
		bool	fixed = `false`
	)

inlineexplicit

Construct and allocate memory for a given dimension.

Definition at line 107 of file vector_vertex.h.

◆ VectorVertex() [4/5]

corbo::VectorVertex::VectorVertex	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		bool	fixed = `false`
	)

inlineexplicit

Construct vertex with given values.

Definition at line 118 of file vector_vertex.h.

◆ VectorVertex() [5/5]

corbo::VectorVertex::VectorVertex	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub,
		bool	fixed = `false`
	)

inlineexplicit

Construct vertex with given values, lower and upper bounds.

Definition at line 129 of file vector_vertex.h.

Member Function Documentation

◆ clear()

void corbo::VectorVertex::clear ( )

inlineoverridevirtual

Clear complete backup container.

Implements corbo::VertexInterface.

Definition at line 279 of file vector_vertex.h.

◆ discardTop()

void corbo::VectorVertex::discardTop ( )

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 277 of file vector_vertex.h.

◆ getData()

const double* corbo::VectorVertex::getData ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 161 of file vector_vertex.h.

◆ getDataRaw()

double* corbo::VectorVertex::getDataRaw ( )

inlineoverridevirtual

Get write access to the values of the vertex.

Implements corbo::VertexInterface.

Definition at line 164 of file vector_vertex.h.

◆ getDimension()

int corbo::VectorVertex::getDimension ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 140 of file vector_vertex.h.

◆ getDimensionUnfixed()

int corbo::VectorVertex::getDimensionUnfixed ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 142 of file vector_vertex.h.

◆ getLowerBounds()

const double* corbo::VectorVertex::getLowerBounds ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 257 of file vector_vertex.h.

◆ getNumBackups()

int corbo::VectorVertex::getNumBackups ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 281 of file vector_vertex.h.

◆ getNumberFiniteBounds()

int corbo::VectorVertex::getNumberFiniteBounds ( bool unfixed_only ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 245 of file vector_vertex.h.

◆ getNumberFiniteLowerBounds()

int corbo::VectorVertex::getNumberFiniteLowerBounds ( bool unfixed_only ) const

inlineoverridevirtual

Get number of finite lower bounds.

Implements corbo::VertexInterface.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 230 of file vector_vertex.h.

◆ getNumberFiniteUpperBounds()

int corbo::VectorVertex::getNumberFiniteUpperBounds ( bool unfixed_only ) const

inlineoverridevirtual

Get number of finite upper bounds.

Implements corbo::VertexInterface.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 238 of file vector_vertex.h.

◆ getUpperBounds()

const double* corbo::VectorVertex::getUpperBounds ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 259 of file vector_vertex.h.

◆ hasFiniteBounds()

bool corbo::VectorVertex::hasFiniteBounds ( ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 212 of file vector_vertex.h.

◆ hasFiniteLowerBound()

bool corbo::VectorVertex::hasFiniteLowerBound ( int idx ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 218 of file vector_vertex.h.

◆ hasFiniteLowerBounds()

bool corbo::VectorVertex::hasFiniteLowerBounds ( ) const

inlineoverridevirtual

Check if finite lower bounds are provided.

Implements corbo::VertexInterface.

Definition at line 214 of file vector_vertex.h.

◆ hasFiniteUpperBound()

bool corbo::VectorVertex::hasFiniteUpperBound ( int idx ) const

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 224 of file vector_vertex.h.

◆ hasFiniteUpperBounds()

bool corbo::VectorVertex::hasFiniteUpperBounds ( ) const

inlineoverridevirtual

Check if finite upper bounds are provided.

Implements corbo::VertexInterface.

Definition at line 216 of file vector_vertex.h.

◆ hasFixedComponents()

bool corbo::VectorVertex::hasFixedComponents ( ) const

inlineoverridevirtual

Check if the vertex has fixed components.

Implements corbo::VertexInterface.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 183 of file vector_vertex.h.

◆ isFixedComponent()

bool corbo::VectorVertex::isFixedComponent ( int idx ) const

inlineoverridevirtual

Check if individual components are fixed or unfixed.

Implements corbo::VertexInterface.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 185 of file vector_vertex.h.

◆ lowerBound()

const Eigen::VectorXd& corbo::VectorVertex::lowerBound ( ) const

inline

Read-access to the underlying lower bound vector.

Definition at line 289 of file vector_vertex.h.

◆ plus() [1/2]

void corbo::VectorVertex::plus ( const double * inc )

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 156 of file vector_vertex.h.

◆ plus() [2/2]

void corbo::VectorVertex::plus	(	int	idx,
		double	inc
	)

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 154 of file vector_vertex.h.

◆ plusUnfixed()

void corbo::VectorVertex::plusUnfixed ( const double * inc )

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 158 of file vector_vertex.h.

◆ pop()

void corbo::VectorVertex::pop ( )

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 265 of file vector_vertex.h.

◆ push()

void corbo::VectorVertex::push ( )

inlineoverridevirtual

Store all values into a internal backup stack.

Implements corbo::VertexInterface.

Definition at line 263 of file vector_vertex.h.

◆ set()

virtual void corbo::VectorVertex::set	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub,
		bool	fixed = `false`
	)

inlinevirtual

Set values and bounds at once.

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 170 of file vector_vertex.h.

◆ setData()

void corbo::VectorVertex::setData	(	int	idx,
		double	data
	)

inlineoverridevirtual

Write data to to a specific component.

Implements corbo::VertexInterface.

Definition at line 167 of file vector_vertex.h.

◆ setDimension()

virtual void corbo::VectorVertex::setDimension ( int dim )

inlinevirtual

Change the dimension of the vertex (lower and upper bounds needs to be redefined)

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 145 of file vector_vertex.h.

◆ setFixed()

virtual void corbo::VectorVertex::setFixed ( bool fixed )

inlinevirtual

Set complete vertex to fixed (and hence skip during optimization)

Reimplemented in corbo::PartiallyFixedVectorVertex.

Definition at line 254 of file vector_vertex.h.

◆ setLowerBound()

void corbo::VectorVertex::setLowerBound	(	int	idx,
		double	lb
	)

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 194 of file vector_vertex.h.

◆ setLowerBounds()

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

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 188 of file vector_vertex.h.

◆ setUpperBound()

void corbo::VectorVertex::setUpperBound	(	int	idx,
		double	ub
	)

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 206 of file vector_vertex.h.

◆ setUpperBounds()

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

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 200 of file vector_vertex.h.

◆ top()

void corbo::VectorVertex::top ( )

inlineoverridevirtual

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

Implements corbo::VertexInterface.

Definition at line 271 of file vector_vertex.h.

◆ upperBound()

const Eigen::VectorXd& corbo::VectorVertex::upperBound ( ) const

inline

Read-access to the underlying upper bound vector.

Definition at line 291 of file vector_vertex.h.

◆ values() [1/2]

Eigen::VectorXd& corbo::VectorVertex::values ( )

inline

Write-access to the underlying value vector.

Definition at line 286 of file vector_vertex.h.

◆ values() [2/2]

const Eigen::VectorXd& corbo::VectorVertex::values ( ) const

inline

Read-access to the underlying value vector.

Definition at line 284 of file vector_vertex.h.

Member Data Documentation

◆ _backup

std::vector<Eigen::VectorXd> corbo::VectorVertex::_backup

protected

Definition at line 302 of file vector_vertex.h.

◆ _finite_lb_bounds

bool corbo::VectorVertex::_finite_lb_bounds = false

protected

Definition at line 297 of file vector_vertex.h.

◆ _finite_ub_bounds

bool corbo::VectorVertex::_finite_ub_bounds = false

protected

Definition at line 298 of file vector_vertex.h.

◆ _fixed

bool corbo::VectorVertex::_fixed = false

protected

Definition at line 300 of file vector_vertex.h.

◆ _lb

Eigen::VectorXd corbo::VectorVertex::_lb

protected

Definition at line 295 of file vector_vertex.h.

◆ _ub

Eigen::VectorXd corbo::VectorVertex::_ub

protected

Definition at line 296 of file vector_vertex.h.

◆ _values

Eigen::VectorXd corbo::VectorVertex::_values

protected

Definition at line 294 of file vector_vertex.h.

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

vector_vertex.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ VectorVertex() [1/5]

◆ VectorVertex() [2/5]

◆ VectorVertex() [3/5]

◆ VectorVertex() [4/5]

◆ VectorVertex() [5/5]

Member Function Documentation

◆ clear()

◆ discardTop()

◆ getData()

◆ getDataRaw()

◆ getDimension()

◆ getDimensionUnfixed()

◆ getLowerBounds()

◆ getNumBackups()

◆ getNumberFiniteBounds()

◆ getNumberFiniteLowerBounds()

◆ getNumberFiniteUpperBounds()

◆ getUpperBounds()

◆ hasFiniteBounds()

◆ hasFiniteLowerBound()

◆ hasFiniteLowerBounds()

◆ hasFiniteUpperBound()

◆ hasFiniteUpperBounds()

◆ hasFixedComponents()

◆ isFixedComponent()

◆ lowerBound()

◆ plus() [1/2]

◆ plus() [2/2]

◆ plusUnfixed()

◆ pop()

◆ push()

◆ set()

◆ setData()

◆ setDimension()

◆ setFixed()

◆ setLowerBound()

◆ setLowerBounds()

◆ setUpperBound()

◆ setUpperBounds()

◆ top()

◆ upperBound()

◆ values() [1/2]

◆ values() [2/2]

Member Data Documentation

◆ _backup

◆ _finite_lb_bounds

◆ _finite_ub_bounds

◆ _fixed

◆ _lb

◆ _ub

◆ _values