A collection of components which is treated as another Component. More...

#include <composite.h>

Inheritance diagram for ifopt::Composite:

Public Types
using	ComponentVec = std::vector< Component::Ptr >

using	Ptr = std::shared_ptr< Composite >

Public Types inherited from ifopt::Component
using	Jacobian = Eigen::SparseMatrix< double, Eigen::RowMajor >

using	Ptr = std::shared_ptr< Component >

using	VecBound = std::vector< Bounds >

using	VectorXd = Eigen::VectorXd

Public Member Functions
void	AddComponent (const Component::Ptr &)
	Adds a component to this composite. More...

void	ClearComponents ()
	Removes all component from this composite. More...

	Composite (const std::string &name, bool is_cost)
	Creates a Composite holding either variables, costs or constraints. More...

VecBound	GetBounds () const override
	Returns the "bounds" of this component. More...

const Component::Ptr	GetComponent (std::string name) const
	Access generic component with the specified name. More...

template<typename T >
std::shared_ptr< T >	GetComponent (const std::string &name) const
	Access type-casted component with the specified name. More...

const ComponentVec	GetComponents () const
	Returns read access to the components. More...

Jacobian	GetJacobian () const override
	Returns derivatives of each row w.r.t. the variables. More...

VectorXd	GetValues () const override
	Returns the "values" of whatever this component represents. More...

void	Print () const override
	Prints the relevant information (name, rows, values) of this component. More...

void	SetVariables (const VectorXd &x) override
	Sets the optimization variables from an Eigen vector. More...

virtual	~Composite ()=default

Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)
	Creates a component. More...

std::string	GetName () const
	Returns the name (id) of this component. More...

int	GetRows () const
	Returns the number of rows of this component. More...

void	SetRows (int num_rows)
	Sets the number of rows of this component. More...

virtual	~Component ()=default

Private Attributes
ComponentVec	components_

bool	is_cost_

Additional Inherited Members
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater = -1

Detailed Description

A collection of components which is treated as another Component.

This class follows the Component interface as well, but doesn't actually do any evaluation, but only stitches together the results of the components it is holding. This is where multiple sets of variables, constraints or costs are ordered and combined.

See Component and Composite Pattern for more information.

Definition at line 168 of file composite.h.

Member Typedef Documentation

using ifopt::Composite::ComponentVec = std::vector<Component::Ptr>

Definition at line 171 of file composite.h.

using ifopt::Composite::Ptr = std::shared_ptr<Composite>

Definition at line 170 of file composite.h.

Constructor & Destructor Documentation

ifopt::Composite::Composite	(	const std::string &	name,
		bool	is_cost
	)

Creates a Composite holding either variables, costs or constraints.

Parameters

is_cost True if this class holds cost terms, false for all others.

Constraints and variables append individual constraint sets and Jacobian rows below one another, whereas costs terms are all accumulated to a scalar value/a single Jacobian row.

Definition at line 60 of file composite.cc.

virtual ifopt::Composite::~Composite ( )

virtualdefault

Member Function Documentation

void ifopt::Composite::AddComponent ( const Component::Ptr & c )

Adds a component to this composite.

Definition at line 66 of file composite.cc.

void ifopt::Composite::ClearComponents ( )

Removes all component from this composite.

Definition at line 80 of file composite.cc.

Composite::VecBound ifopt::Composite::GetBounds ( ) const

overridevirtual

Returns the "bounds" of this component.

For Variable these are the upper and lower variable bound.
For Constraint this represents the constraint bounds.
For Cost these done't exists (set to infinity).

Implements ifopt::Component.

Definition at line 149 of file composite.cc.

const Component::Ptr ifopt::Composite::GetComponent ( std::string name ) const

Access generic component with the specified name.

Parameters

name	The name given to the component.

Returns: A generic pointer of that component.

Definition at line 87 of file composite.cc.

template<typename T >

std::shared_ptr< T > ifopt::Composite::GetComponent ( const std::string & name ) const

Access type-casted component with the specified name.

Parameters

name	The name given to the component.

Template Parameters

T	Type of component.

Returns: A type-casted pointer possibly providing addtional functionality.

Definition at line 230 of file composite.h.

const Composite::ComponentVec ifopt::Composite::GetComponents ( ) const

Returns read access to the components.

Definition at line 161 of file composite.cc.

Composite::Jacobian ifopt::Composite::GetJacobian ( ) const

overridevirtual

Returns derivatives of each row w.r.t. the variables.

For Constraint this is a matrix with one row per constraint.
For a Cost this is a row vector (gradient transpose).
Not sensible for Variable.

Implements ifopt::Component.

Definition at line 128 of file composite.cc.

Composite::VectorXd ifopt::Composite::GetValues ( ) const

overridevirtual

Returns the "values" of whatever this component represents.

For Variable this represents the actual optimization values.
For Constraint this represents the constraint value g.
For Cost this represents the cost value.

Implements ifopt::Component.

Definition at line 98 of file composite.cc.

void ifopt::Composite::Print ( ) const

overridevirtual

Prints the relevant information (name, rows, values) of this component.

Reimplemented from ifopt::Component.

Definition at line 169 of file composite.cc.

void ifopt::Composite::SetVariables ( const VectorXd & x )

overridevirtual

Sets the optimization variables from an Eigen vector.

This is only done for Variable, where these are set from the current values of the NLP solvers.

Implements ifopt::Component.

Definition at line 116 of file composite.cc.

Member Data Documentation

ComponentVec ifopt::Composite::components_

private

Definition at line 223 of file composite.h.

bool ifopt::Composite::is_cost_

private

Definition at line 224 of file composite.h.

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation