roboptim::SumOfC1Squares Class Reference

Sum of the squares of differentiable functions. More...

#include <roboptim/core/sum-of-c1-squares.hh>

Inheritance diagram for roboptim::SumOfC1Squares:
roboptim::GenericDifferentiableFunction< T > roboptim::GenericFunction< T >

Public Types

Types
typedef DifferentiableFunction parent_t
 
typedef parent_t::argument_t argument_t
 
typedef parent_t::jacobian_t jacobian_t
 
typedef parent_t::gradient_t gradient_t
 
typedef parent_t::jacobianSize_t jacobianSize_t
 
typedef Function::size_type size_t
 
typedef Function::value_type value_t
 
- Public Types inherited from roboptim::GenericDifferentiableFunction< T >
typedef GenericFunctionTraits< T >::gradient_t gradient_t
 Gradient type. More...
 
typedef GenericFunctionTraits< T >::jacobian_t jacobian_t
 Jacobian type. More...
 
typedef std::pair< size_type, size_typejacobianSize_t
 Jacobian size type (pair of values). More...
 
- Public Types inherited from roboptim::GenericFunction< T >
typedef GenericFunctionTraits< T >::value_type value_type
 Values type. More...
 
typedef GenericFunctionTraits< T >::vector_t vector_t
 Basic vector type. More...
 
typedef GenericFunctionTraits< T >::matrix_t matrix_t
 Basic matrix type. More...
 
typedef GenericFunctionTraits< T >::size_type size_type
 Size type. More...
 
typedef GenericFunctionTraits< T >::result_t result_t
 Type of a function evaluation result. More...
 
typedef GenericFunctionTraits< T >::argument_t argument_t
 Type of a function evaluation argument. More...
 
typedef std::pair< value_type, value_typeinterval_t
 Interval type (lower, upper). More...
 
typedef std::vector< interval_tintervals_t
 Vector of intervals. More...
 
typedef boost::tuple< value_type, value_type, value_typediscreteInterval_t
 Types representing a discrete interval. More...
 

Public Member Functions

 SumOfC1Squares (const boost::shared_ptr< DifferentiableFunction > &function, const std::string &name) throw ()
 Constructot by vector valued functions The value of this scalar valued function is the sum of the squares of the coordinates of the vector valued base function. More...
 
 SumOfC1Squares (const SumOfC1Squares &function) throw ()
 
virtual ~SumOfC1Squares () throw ()
 
const boost::shared_ptr< const DifferentiableFunction > & baseFunction () const
 Get base function Base function is the vector valued function given at construction of this class. More...
 
- Public Member Functions inherited from roboptim::GenericDifferentiableFunction< T >
 ROBOPTIM_FUNCTION_FWD_TYPEDEFS_ (GenericFunction< T >)
 
size_type gradientSize () const throw ()
 Return the gradient size. More...
 
jacobianSize_t jacobianSize () const throw ()
 Return the jacobian size as a pair. More...
 
bool isValidGradient (const gradient_t &gradient) const throw ()
 Check if the gradient is valid (check size). More...
 
bool isValidJacobian (const jacobian_t &jacobian) const throw ()
 Check if the jacobian is valid (check sizes). More...
 
jacobian_t jacobian (const argument_t &argument) const throw ()
 Computes the jacobian. More...
 
void jacobian (jacobian_t &jacobian, const argument_t &argument) const throw ()
 Computes the jacobian. More...
 
gradient_t gradient (const argument_t &argument, size_type functionId=0) const throw ()
 Computes the gradient. More...
 
void gradient (gradient_t &gradient, const argument_t &argument, size_type functionId=0) const throw ()
 Computes the gradient. More...
 
virtual std::ostream & print (std::ostream &o) const throw ()
 Display the function on the specified output stream. More...
 
- Public Member Functions inherited from roboptim::GenericFunction< T >
bool isValidResult (const result_t &result) const throw ()
 Check the given result size is valid. More...
 
GenericFunction< T >::size_type inputSize () const throw ()
 Return the input size (i.e. More...
 
GenericFunction< T >::size_type outputSize () const throw ()
 Return the output size (i.e. More...
 
virtual ~GenericFunction () throw ()
 Trivial destructor. More...
 
result_t operator() (const argument_t &argument) const throw ()
 Evaluate the function at a specified point. More...
 
void operator() (result_t &result, const argument_t &argument) const throw ()
 Evaluate the function at a specified point. More...
 
const std::string & getName () const throw ()
 Get function name. More...
 

Protected Member Functions

virtual void impl_compute (result_t &result, const argument_t &x) const throw ()
 Compute value of function Value is sum of squares of coordinates of vector valued base function. More...
 
virtual void impl_gradient (gradient_t &gradient, const argument_t &x, size_type row=0) const throw ()
 Gradient. More...
 
- Protected Member Functions inherited from roboptim::GenericDifferentiableFunction< T >
 GenericDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) throw ()
 Concrete class constructor should call this constructor. More...
 
virtual void impl_jacobian (jacobian_t &jacobian, const argument_t &arg) const throw ()
 Jacobian evaluation. More...
 
template<>
void impl_jacobian (jacobian_t &jacobian, const argument_t &argument) const throw()
 
- Protected Member Functions inherited from roboptim::GenericFunction< T >
 GenericFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) throw ()
 Concrete class constructor should call this constructor. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from roboptim::GenericFunction< T >
static value_type epsilon () throw ()
 Get the value of the machine epsilon, useful for floating types comparison. More...
 
static value_type infinity () throw ()
 Get the value that symbolizes positive infinity. More...
 
static interval_t makeInterval (value_type l, value_type u) throw ()
 Construct an interval from a lower and upper bound. More...
 
static interval_t makeInfiniteInterval () throw ()
 Construct an infinite interval. More...
 
static interval_t makeLowerInterval (value_type l) throw ()
 Construct an interval from a lower bound. More...
 
static interval_t makeUpperInterval (value_type u) throw ()
 Construct an interval from an upper bound. More...
 
static double getLowerBound (const interval_t &interval) throw ()
 Get the lower bound of an interval. More...
 
static double getUpperBound (const interval_t &interval) throw ()
 Get the upper bound of an interval. More...
 
static discreteInterval_t makeDiscreteInterval (value_type min, value_type max, value_type step)
 Construct a discrete interval. More...
 
static discreteInterval_t makeDiscreteInterval (interval_t interval, value_type step)
 Construct a discrete interval. More...
 
static double getLowerBound (const discreteInterval_t &interval) throw ()
 Get the lower bound of a discrete interval. More...
 
static double getUpperBound (const discreteInterval_t &interval) throw ()
 Get the upper bound of a discrete interval. More...
 
static double getStep (const discreteInterval_t &interval) throw ()
 Get the upper step of a discrete interval. More...
 
template<typename F >
static void foreach (const discreteInterval_t interval, F functor)
 Iterate on an interval. More...
 
template<typename F >
static void foreach (const interval_t interval, const size_type n, F functor)
 Iterate on an interval. More...
 
- Static Protected Attributes inherited from roboptim::GenericFunction< T >
static log4cxx::LoggerPtr logger
 Pointer to function logger (see log4cxx documentation). More...
 

Detailed Description

Sum of the squares of differentiable functions.

This types enables roboptim to handle Levenberg Marquardt algorithm. This algorithm indeed minimizes the sum of squares of differentiable functions.

The differentiable functions are stored in a vector valued function called base function.

Member Typedef Documentation

Constructor & Destructor Documentation

roboptim::SumOfC1Squares::SumOfC1Squares ( const boost::shared_ptr< DifferentiableFunction > &  function,
const std::string &  name 
)
throw (
)
explicit

Constructot by vector valued functions The value of this scalar valued function is the sum of the squares of the coordinates of the vector valued base function.

roboptim::SumOfC1Squares::SumOfC1Squares ( const SumOfC1Squares function)
throw (
)
explicit
roboptim::SumOfC1Squares::~SumOfC1Squares ( )
throw (
)
virtual

Member Function Documentation

const boost::shared_ptr< const DifferentiableFunction > & roboptim::SumOfC1Squares::baseFunction ( ) const

Get base function Base function is the vector valued function given at construction of this class.

void roboptim::SumOfC1Squares::impl_compute ( result_t result,
const argument_t x 
) const
throw (
)
protectedvirtual

Compute value of function Value is sum of squares of coordinates of vector valued base function.

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

Implements roboptim::GenericFunction< T >.

void roboptim::SumOfC1Squares::impl_gradient ( gradient_t gradient,
const argument_t x,
size_type  row = 0 
) const
throw (
)
protectedvirtual

Gradient.

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

Implements roboptim::GenericDifferentiableFunction< T >.