#include <edge.h>

Inheritance diagram for corbo::Edge<>:

[legend]

Public Types
using	ConstPtr = std::shared_ptr< const Edge >

using	Ptr = std::shared_ptr< Edge >

using	UPtr = std::unique_ptr< Edge >

using	VertexContainer = std::vector< VertexInterface * >
	Typedef to represent the vertex container. More...

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

using	UPtr = std::unique_ptr< BaseEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeValues (Eigen::Ref< Eigen::VectorXd > values) override=0
	Compute function values. More...

	Edge ()=delete

	Edge (int num_vertices)

int	getDimension () const override=0
	Get dimension of the edge (dimension of the cost-function/constraint value vector) More...

int	getNumVertices () const override
	Return number of attached vertices. More...

const VertexInterface *	getVertex (int idx) const override

VertexInterface *	getVertexRaw (int idx) override
	Get access to vertex with index `idx` (0 <= idx < numVertices) More...

bool	isLinear () const override=0
	Return true if the edge is linear (and hence its Hessian is always zero) More...

bool	providesJacobian () const override
	Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten) More...

void	resizeVertexContainer (int n)
	Set number `n` of vertices attached to this edge. More...

void	setVertex (int idx, VertexInterface &vertex)

int	verticesDimension () const override
	Return the combined dimension of all attached vertices (excluding fixed vertex components) More...

Public Member Functions inherited from corbo::BaseEdge
virtual void	computeHessian (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &block_jacobian_i, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &block_jacobian_i, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)
	Compute edge block Hessian for a given vertex pair. More...

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

virtual void	computeJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)
	Compute edge block jacobian for a given vertex. More...

virtual bool	isLeastSquaresForm () const
	Defines if the edge is formulated as Least-Squares form. More...

virtual bool	providesHessian () const
	Return true if a custom Hessian is provided (e.g. computeHessian() is overwritten) More...

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_value_vectors)

void	reserveJacobiansCacheMemory (int num_jacobians)

void	computeValuesCached ()
	Call computeValues() and store result to previously allocated internal cache (call allocateInteralValuesCache() first once) More...

void	computeSquaredNormOfValuesCached ()
	compute the specialied squared-norm method for computing the values (note only the first element in the values cache is used) More...

EdgeCache &	getCache ()
	Retreive values computed previously via computeValuesCached() More...

const EdgeCache &	getCache () const

int	getEdgeIdx () const
	Retrieve current edge index (warning, this value is determined within the related HyperGraph) More...

Public Member Functions inherited from corbo::EdgeInterface
virtual double	computeSquaredNormOfValues ()

virtual double	computeSumOfValues ()

int	getNumFiniteVerticesLowerBounds () const

int	getNumFiniteVerticesUpperBounds () const

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

Protected Attributes
VertexContainer	_vertices
	Vertex container. More...

Protected Attributes inherited from corbo::BaseEdge
int	_edge_idx = 0

EdgeCache	_cache

Detailed Description

Definition at line 243 of file edge.h.

Member Typedef Documentation

◆ ConstPtr

using corbo::Edge<>::ConstPtr = std::shared_ptr<const Edge>

Definition at line 247 of file edge.h.

◆ Ptr

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

Definition at line 246 of file edge.h.

◆ UPtr

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

Definition at line 248 of file edge.h.

◆ VertexContainer

using corbo::Edge<>::VertexContainer = std::vector<VertexInterface*>

Typedef to represent the vertex container.

Definition at line 251 of file edge.h.

Constructor & Destructor Documentation

◆ Edge() [1/2]

corbo::Edge<>::Edge ( )

delete

◆ Edge() [2/2]

corbo::Edge<>::Edge ( int num_vertices )

inlineexplicit

Definition at line 256 of file edge.h.

Member Function Documentation

◆ computeValues()

void corbo::Edge<>::computeValues ( Eigen::Ref< Eigen::VectorXd > values )

overridepure virtual

Compute function values.

Here, the actual cost/constraint function values are computed:

objective in non-least-squares form: e(x) (hereby, the actual cost is f(x) = e(x)^T e(x))
objective in least-squares form: f(x)
equality constraints: ceq(x) (in case constraints are satisfied: ceq(x) = 0)
inequality constraints: c(x) (in case constraints are satisfied: c(x) < 0)
Parameters

[in] values values should be stored here according to getDimension().

Implements corbo::BaseEdge.

Implemented in corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, and corbo::QuadratureCollocationDynamicsOnly.

◆ getDimension()

int corbo::Edge<>::getDimension ( ) const

overridepure virtual

Get dimension of the edge (dimension of the cost-function/constraint value vector)

Implements corbo::BaseEdge.

Implemented in corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, and corbo::QuadratureCollocationDynamicsOnly.

◆ getNumVertices()

int corbo::Edge<>::getNumVertices ( ) const

inlineoverridevirtual

Return number of attached vertices.

Implements corbo::EdgeInterface.

Definition at line 270 of file edge.h.

◆ getVertex()

const VertexInterface* corbo::Edge<>::getVertex ( int idx ) const

inlineoverridevirtual

Implements corbo::EdgeInterface.

Definition at line 296 of file edge.h.

◆ getVertexRaw()

VertexInterface* corbo::Edge<>::getVertexRaw ( int idx )

inlineoverridevirtual

Get access to vertex with index idx (0 <= idx < numVertices)

Implements corbo::EdgeInterface.

Definition at line 289 of file edge.h.

◆ isLinear()

bool corbo::Edge<>::isLinear ( ) const

overridepure virtual

Return true if the edge is linear (and hence its Hessian is always zero)

Reimplemented from corbo::BaseEdge.

Implemented in corbo::UncompressedCollocationEdge, corbo::MSDynamicsOnlyMultiControlsMultiDtsEdge, corbo::MSDynamicsOnlyMultiControlsEdge, corbo::CompressedCollocationMultipleControlsEdge, and corbo::QuadratureCollocationDynamicsOnly.

◆ providesJacobian()

bool corbo::Edge<>::providesJacobian ( ) const

inlineoverridevirtual

Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten)

Reimplemented from corbo::BaseEdge.

Definition at line 283 of file edge.h.

◆ resizeVertexContainer()

void corbo::Edge<>::resizeVertexContainer ( int n )

inline

Set number n of vertices attached to this edge.

Definition at line 259 of file edge.h.

◆ setVertex()

void corbo::Edge<>::setVertex	(	int	idx,
		VertexInterface &	vertex
	)

inline

Definition at line 261 of file edge.h.

◆ verticesDimension()

int corbo::Edge<>::verticesDimension ( ) const

inlineoverridevirtual

Return the combined dimension of all attached vertices (excluding fixed vertex components)

Implements corbo::EdgeInterface.

Definition at line 273 of file edge.h.

Member Data Documentation

◆ _vertices

VertexContainer corbo::Edge<>::_vertices

protected

Vertex container.

Definition at line 303 of file edge.h.

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

edge.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ UPtr

◆ VertexContainer

Constructor & Destructor Documentation

◆ Edge() [1/2]

◆ Edge() [2/2]

Member Function Documentation

◆ computeValues()

◆ getDimension()

◆ getNumVertices()

◆ getVertex()

◆ getVertexRaw()

◆ isLinear()

◆ providesJacobian()

◆ resizeVertexContainer()

◆ setVertex()

◆ verticesDimension()

Member Data Documentation

◆ _vertices