Parametrized function with parameter derivative available. More...
#include <roboptim/core/derivable-parametrized-function.hh>
Public Types | |
typedef F::value_type | value_type |
Import value type. | |
typedef F::size_type | size_type |
Import size type. | |
typedef F::vector_t | vector_t |
Import vector type. | |
typedef F::matrix_t | matrix_t |
Import matrix type. | |
typedef F | result_t |
Import result type. | |
typedef F::argument_t | argument_t |
Import argument type. | |
typedef F::vector_t | gradient_t |
Import gradient type. | |
typedef F::matrix_t | jacobian_t |
Import jacobian type. | |
typedef F::jacobianSize_t | jacobianSize_t |
Import jacobian size type (pair of values). | |
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Public Member Functions | |
size_type | gradientSize () const throw () |
Return the gradient size. | |
jacobianSize_t | jacobianSize () const throw () |
Return the jacobian size as a pair. | |
bool | isValidGradient (const gradient_t &gradient) const throw () |
Check if the gradient is valid (check size). | |
bool | isValidJacobian (const jacobian_t &jacobian) const throw () |
Check if the jacobian is valid (check sizes). | |
jacobian_t | jacobian (const argument_t &argument, size_type order=0) const throw () |
Computes the jacobian. | |
void | jacobian (jacobian_t &jacobian, const argument_t &argument, size_type order=0) const throw () |
Computes the jacobian. | |
gradient_t | gradient (const argument_t &argument, size_type functionId=0, size_type order=0) const throw () |
Computes the gradient. | |
void | gradient (gradient_t &gradient, const argument_t &argument, size_type functionId=0, size_type order=0) const throw () |
Computes the gradient. | |
virtual std::ostream & | print (std::ostream &o) const throw () |
Display the function on the specified output stream. | |
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result_t | operator() (const argument_t &argument) const throw () |
Evaluate the function at a specified point. | |
size_type | inputSize () const throw () |
Return the input size (i.e. argument's vector size). | |
size_type | functionInputSize () const throw () |
Return the function's input size (i.e. argument's vector size). | |
size_type | functionOutputSize () const throw () |
Return the function's output size (i.e. result's vector size). |
Protected Member Functions | |
DerivableParametrizedFunction (size_type inputSize, size_type functionInputSize, size_type functionOutputSize) throw () | |
Concrete class constructor should call this constructor. | |
virtual void | impl_jacobian (jacobian_t &jacobian, const argument_t &arg) const throw () |
Jacobian evaluation. | |
virtual void | impl_gradient (gradient_t &gradient, const argument_t &argument, size_type functionId=0, size_type order=0) const =0 throw () |
Gradient evaluation. | |
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ParametrizedFunction (size_type inputSize, size_type functionInputSize, size_type functionOutputSize) throw () | |
Concrete class constructor should call this constructor. | |
virtual result_t | impl_compute (const argument_t &argument) const =0 throw () |
Function evaluation. |
Parametrized function with parameter derivative available.
Depending on inner function type, this class allows computation of parameter derivative or combined parameter/function derivative.
F | inner function type. |
typedef F::argument_t roboptim::DerivableParametrizedFunction< F >::argument_t |
Import argument type.
Reimplemented from roboptim::ParametrizedFunction< F >.
typedef F::vector_t roboptim::DerivableParametrizedFunction< F >::gradient_t |
Import gradient type.
typedef F::matrix_t roboptim::DerivableParametrizedFunction< F >::jacobian_t |
Import jacobian type.
typedef F::jacobianSize_t roboptim::DerivableParametrizedFunction< F >::jacobianSize_t |
Import jacobian size type (pair of values).
typedef F::matrix_t roboptim::DerivableParametrizedFunction< F >::matrix_t |
Import matrix type.
Reimplemented from roboptim::ParametrizedFunction< F >.
typedef F roboptim::DerivableParametrizedFunction< F >::result_t |
Import result type.
Reimplemented from roboptim::ParametrizedFunction< F >.
typedef F::size_type roboptim::DerivableParametrizedFunction< F >::size_type |
Import size type.
Reimplemented from roboptim::ParametrizedFunction< F >.
typedef F::value_type roboptim::DerivableParametrizedFunction< F >::value_type |
Import value type.
Reimplemented from roboptim::ParametrizedFunction< F >.
typedef F::vector_t roboptim::DerivableParametrizedFunction< F >::vector_t |
Import vector type.
Reimplemented from roboptim::ParametrizedFunction< F >.
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inlineprotected |
Concrete class constructor should call this constructor.
inputSize | parameter size |
functionInputSize | inner function argument size |
functionOutputSize | inner function result size |
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inline |
Computes the gradient.
argument | inner function argument value |
functionId | function id in split representation |
order | derivation order |
References roboptim::DerivableParametrizedFunction< F >::gradientSize().
Referenced by roboptim::DerivableParametrizedFunction< F >::impl_jacobian(), and roboptim::DerivableParametrizedFunction< F >::isValidGradient().
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inline |
Computes the gradient.
Program will abort if the gradient size is wrong before or after the gradient computation.
gradient | gradient will be stored in this argument |
argument | inner function point argument value |
functionId | function id in split representation |
order | derivation order |
References roboptim::DerivableParametrizedFunction< F >::impl_gradient(), roboptim::ParametrizedFunction< F >::inputSize(), and roboptim::DerivableParametrizedFunction< F >::isValidGradient().
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inline |
Return the gradient size.
Gradient size is equals to the input size.
References roboptim::ParametrizedFunction< F >::inputSize().
Referenced by roboptim::DerivableParametrizedFunction< F >::gradient(), and roboptim::DerivableParametrizedFunction< F >::isValidGradient().
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protectedpure virtual |
Gradient evaluation.
Compute the gradient, has to be implemented in concrete classes. The gradient is computed for a specific sub-function which id is passed through the functionId argument.
gradient | gradient will be store in this argument |
argument | inner function point argument value |
functionId | evaluated function id in the split representation |
order | derivation order |
Referenced by roboptim::DerivableParametrizedFunction< F >::gradient().
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inlineprotectedvirtual |
Jacobian evaluation.
Computes the jacobian, can be overridden by concrete classes. The default behavior is to compute the jacobian from the gradient.
jacobian | jacobian will be store in this argument |
arg | point where the jacobian will be computed |
References roboptim::ParametrizedFunction< F >::functionOutputSize(), roboptim::DerivableParametrizedFunction< F >::gradient(), roboptim::ParametrizedFunction< F >::inputSize(), and roboptim::DerivableParametrizedFunction< F >::jacobian().
Referenced by roboptim::DerivableParametrizedFunction< F >::jacobian().
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inline |
Check if the gradient is valid (check size).
gradient | checked gradient |
References roboptim::DerivableParametrizedFunction< F >::gradient(), and roboptim::DerivableParametrizedFunction< F >::gradientSize().
Referenced by roboptim::DerivableParametrizedFunction< F >::gradient().
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inline |
Check if the jacobian is valid (check sizes).
jacobian | checked jacobian |
References roboptim::DerivableParametrizedFunction< F >::jacobian(), and roboptim::DerivableParametrizedFunction< F >::jacobianSize().
Referenced by roboptim::DerivableParametrizedFunction< F >::jacobian().
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inline |
Computes the jacobian.
argument | point at which the jacobian will be computed |
order | derivation order |
References roboptim::DerivableParametrizedFunction< F >::jacobianSize().
Referenced by roboptim::DerivableParametrizedFunction< F >::impl_jacobian(), and roboptim::DerivableParametrizedFunction< F >::isValidJacobian().
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inline |
Computes the jacobian.
Program will abort if the jacobian size is wrong before or after the jacobian computation.
jacobian | jacobian will be stored in this argument |
order | derivation order |
argument | inner function point argument value |
References roboptim::DerivableParametrizedFunction< F >::impl_jacobian(), roboptim::ParametrizedFunction< F >::inputSize(), and roboptim::DerivableParametrizedFunction< F >::isValidJacobian().
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inline |
Return the jacobian size as a pair.
Gradient size is equals to (output size, input size).
References roboptim::ParametrizedFunction< F >::functionOutputSize(), and roboptim::ParametrizedFunction< F >::inputSize().
Referenced by roboptim::DerivableParametrizedFunction< F >::isValidJacobian(), and roboptim::DerivableParametrizedFunction< F >::jacobian().
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inlinevirtual |
Display the function on the specified output stream.
o | output stream used for display |
Reimplemented from roboptim::ParametrizedFunction< F >.