leaves.cc

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Copyright (c) 2017, Alexander W Winkler. All rights reserved.
 
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#include <ifopt/constraint_set.h>
#include <ifopt/cost_term.h>
#include <ifopt/variable_set.h>
 
#include <iomanip>
#include <iostream>
 
namespace ifopt {
 
VariableSet::VariableSet(int n_var, const std::string& name)
    : Component(n_var, name)
{}
 
ConstraintSet::ConstraintSet(int row_count, const std::string& name)
    : Component(row_count, name)
{}
 
ConstraintSet::Jacobian ConstraintSet::GetJacobian() const
{
  Jacobian jacobian(GetRows(), variables_->GetRows());
 
  int col = 0;
  Jacobian jac;
  std::vector<Eigen::Triplet<double>> triplet_list;
 
  for (const auto& vars : variables_->GetComponents()) {
    int n = vars->GetRows();
    jac.resize(GetRows(), n);
 
    FillJacobianBlock(vars->GetName(), jac);
    // reserve space for the new elements to reduce memory allocation
    triplet_list.reserve(triplet_list.size() + jac.nonZeros());
 
    // create triplets for the derivative at the correct position in the overall Jacobian
    for (int k = 0; k < jac.outerSize(); ++k)
      for (Jacobian::InnerIterator it(jac, k); it; ++it)
        triplet_list.push_back(
            Eigen::Triplet<double>(it.row(), col + it.col(), it.value()));
    col += n;
  }
 
  // transform triplet vector into sparse matrix
  jacobian.setFromTriplets(triplet_list.begin(), triplet_list.end());
  return jacobian;
}
 
void ConstraintSet::LinkWithVariables(const VariablesPtr& x)
{
  variables_ = x;
  InitVariableDependedQuantities(x);
}
 
CostTerm::CostTerm(const std::string& name) : ConstraintSet(1, name) {}
 
CostTerm::VectorXd CostTerm::GetValues() const
{
  VectorXd cost(1);
  cost(0) = GetCost();
  return cost;
}
 
CostTerm::VecBound CostTerm::GetBounds() const
{
  return VecBound(GetRows(), NoBound);
}
 
void CostTerm::Print(double tol, int& index) const
{
  // only one scalar cost value
  double cost = GetValues()(0);
 
  std::cout.precision(2);
  std::cout << std::fixed << std::left << std::setw(30) << GetName()
            << std::right << std::setw(4) << GetRows() << std::setw(9) << index
            << std::setfill('.') << std::setw(7) << index + GetRows() - 1
            << std::setfill(' ') << std::setw(12) << cost << std::endl;
}
 
}  // namespace ifopt