Define an abstract mathematical function ( ).
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#include <roboptim/core/function.hh>
Public Types | |
typedef double | value_type |
Values type. | |
typedef std::size_t | size_type |
Size type. | |
typedef ublas::vector< value_type > | vector_t |
Basic vector type. | |
typedef ublas::matrix< value_type > | matrix_t |
Basic matrix type. | |
typedef vector_t | result_t |
Type of a function evaluation result. | |
typedef vector_t | argument_t |
Type of a function evaluation argument. |
Public Member Functions | |
bool | isValidResult (const result_t &result) const throw () |
Check the given result size is valid. | |
size_type | inputSize () const throw () |
Return the input size (i.e. argument's vector size). | |
size_type | outputSize () const throw () |
Return the output size (i.e. result's vector size). | |
virtual | ~Function () throw () |
Trivial destructor. | |
result_t | operator() (const argument_t &argument) const throw () |
Evaluate the function at a specified point. | |
void | operator() (result_t &result, const argument_t &argument) const throw () |
Evaluate the function at a specified point. | |
const std::string & | getName () const throw () |
Get function name. | |
virtual std::ostream & | print (std::ostream &) const throw () |
Display the function on the specified output stream. |
Static Public Member Functions | |
static const value_type | infinity () throw () |
Get the value that symbolizes positive infinity. |
Protected Member Functions | |
Function (size_type inputSize, size_type outputSize=1, std::string name=std::string()) throw () | |
Concrete class constructor should call this constructor. | |
virtual void | impl_compute (result_t &result, const argument_t &argument) const =0 throw () |
Function evaluation. |
Interval | |
typedef std::pair< value_type, value_type > | interval_t |
Interval type (lower, upper). Use negative or positive infinity to respectively disable the lower or upper bound. | |
typedef std::vector< interval_t > | intervals_t |
Vector of intervals. | |
static interval_t | makeInterval (value_type l, value_type u) throw () |
Construct an interval from a lower and upper bound. | |
static interval_t | makeInfiniteInterval () throw () |
Construct an infinite interval. | |
static interval_t | makeLowerInterval (value_type l) throw () |
Construct an interval from a lower bound. | |
static interval_t | makeUpperInterval (value_type u) throw () |
Construct an interval from an upper bound. | |
static double | getLowerBound (const interval_t &interval) throw () |
Get the lower bound of an interval. | |
static double | getUpperBound (const interval_t &interval) throw () |
Get the upper bound of an interval. |
Discrete interval | |
typedef boost::tuple < value_type, value_type, value_type > | discreteInterval_t |
Types representing a discrete interval. A discrete interval is a triplet of values: | |
static discreteInterval_t | makeDiscreteInterval (value_type min, value_type max, value_type step) |
Construct a discrete interval. | |
static discreteInterval_t | makeDiscreteInterval (interval_t interval, value_type step) |
Construct a discrete interval. | |
static double | getLowerBound (const discreteInterval_t &interval) throw () |
Get the lower bound of a discrete interval. | |
static double | getUpperBound (const discreteInterval_t &interval) throw () |
Get the upper bound of a discrete interval. | |
static double | getStep (const discreteInterval_t &interval) throw () |
Get the upper step of a discrete interval. | |
template<typename F > | |
static void | foreach (const discreteInterval_t interval, F functor) |
Iterate on an interval. | |
template<typename F > | |
static void | foreach (const interval_t interval, const size_type n, F functor) |
Iterate on an interval. |
Define an abstract mathematical function ( ).
A function is an object that can be evaluated for a given point.
,
where
is the input size and
is the output size.
Functions are pure immutable objects: evaluating a function twice at a given point <b>must</b> give the same result.
Type of a function evaluation argument.
typedef boost::tuple<value_type, value_type, value_type> roboptim::Function::discreteInterval_t |
Types representing a discrete interval. A discrete interval is a triplet of values:
typedef std::pair<value_type, value_type> roboptim::Function::interval_t |
Interval type (lower, upper). Use negative or positive infinity to respectively disable the lower or upper bound.
typedef std::vector<interval_t> roboptim::Function::intervals_t |
Vector of intervals.
typedef ublas::matrix<value_type> roboptim::Function::matrix_t |
Basic matrix type.
This basic matrix type is used each time a two dimensional matrix of values is needed.
typedef vector_t roboptim::Function::result_t |
Type of a function evaluation result.
typedef std::size_t roboptim::Function::size_type |
Size type.
This type is used to represent sizes, indexes, etc.
typedef double roboptim::Function::value_type |
Values type.
Represents the numerical type (i.e. float, double, int...) used for computations.
typedef ublas::vector<value_type> roboptim::Function::vector_t |
Basic vector type.
This basic vector type is used each time a vector of values is required.
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virtual |
Trivial destructor.
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protected |
Concrete class constructor should call this constructor.
inputSize | function arity |
outputSize | result size |
name | function's name |
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inlinestatic |
Iterate on an interval.
Call the functor to each discretization point of the discrete interval.
interval | interval on which the method iterates |
functor | unary function that will be applied |
F | functor type (has to satisfy the STL unary function concept) |
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inlinestatic |
Iterate on an interval.
Call the functor regularly n times on an interval.
interval | interval on which the method iterates |
n | number of discretization points |
functor | unary function that will be applied |
F | functor type (has to satisfy the STL unary function concept) |
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inlinestatic |
Get the lower bound of an interval.
interval | accessed interval |
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inlinestatic |
Get the lower bound of a discrete interval.
interval | accessed discrete interval |
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inline |
Get function name.
Referenced by roboptim::visualization::gnuplot::plot(), and roboptim::visualization::gnuplot::plot_xy().
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inlinestatic |
Get the upper step of a discrete interval.
interval | accessed discrete interval |
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inlinestatic |
Get the upper bound of an interval.
interval | accessed interval |
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inlinestatic |
Get the upper bound of a discrete interval.
interval | accessed discrete interval |
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protectedpure virtual |
Function evaluation.
Evaluate the function, has to be implemented in concrete classes.
result | result will be stored in this vector |
argument | point at which the function will be evaluated |
Implemented in roboptim::NTimesDerivableFunction< 2 >, roboptim::FiniteDifferenceGradient< FdgPolicy >, roboptim::NumericQuadraticFunction, roboptim::NumericLinearFunction, roboptim::ConstantFunction, and roboptim::IdentityFunction.
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inlinestatic |
Get the value that symbolizes positive infinity.
Referenced by makeInfiniteInterval(), makeLowerInterval(), makeUpperInterval(), and roboptim::Problem< F, CLIST >::print().
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inline |
Return the input size (i.e. argument's vector size).
Referenced by roboptim::finiteDifferenceGradientPolicies::Simple::computeGradient(), roboptim::visualization::gnuplot::plot(), and roboptim::visualization::gnuplot::plot_xy().
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inline |
Check the given result size is valid.
result | result that will be checked |
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inlinestatic |
Construct a discrete interval.
min | miminum value of the interval |
max | maxinum value of the interval |
step | discretization step |
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inlinestatic |
Construct a discrete interval.
interval | continuous interval |
step | discretization step |
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inlinestatic |
Construct an infinite interval.
References infinity().
Referenced by roboptim::Problem< F, CLIST >::Problem().
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inlinestatic |
Construct an interval from a lower and upper bound.
l | lower bound |
u | upper bound |
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inlinestatic |
Construct an interval from a lower bound.
l | lower bound |
References infinity().
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inlinestatic |
Construct an interval from an upper bound.
u | upper bound |
References infinity().
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inline |
Evaluate the function at a specified point.
The program will abort if the argument does not have the expected size.
argument | point at which the function will be evaluated |
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inline |
Evaluate the function at a specified point.
The program will abort if the argument does not have the expected size.
result | result will be stored in this vector |
argument | point at which the function will be evaluated |
References RoboptimCoreDout.
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inline |
Return the output size (i.e. result's vector size).
Referenced by roboptim::finiteDifferenceGradientPolicies::Simple::computeGradient(), roboptim::finiteDifferenceGradientPolicies::FivePointsRule::computeGradient(), roboptim::visualization::gnuplot::plot(), and roboptim::visualization::gnuplot::plot_xy().
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virtual |
Display the function on the specified output stream.
o | output stream used for display |
Reimplemented in roboptim::DerivableFunction, roboptim::NTimesDerivableFunction< 2 >, roboptim::TwiceDerivableFunction, roboptim::NumericQuadraticFunction, roboptim::QuadraticFunction, roboptim::LinearFunction, roboptim::NumericLinearFunction, roboptim::ConstantFunction, and roboptim::IdentityFunction.
Referenced by roboptim::operator<<().