Polynomial function. More...
#include <roboptim/core/function/polynomial.hh>
Public Member Functions | |
ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericTwiceDifferentiableFunction< T >) | |
Polynomial (const_vector_ref coefficients) | |
Build a polynomial function. More... | |
virtual | ~Polynomial () |
virtual std::ostream & | print (std::ostream &o) const |
Display the function on the specified output stream. More... | |
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ROBOPTIM_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ (GenericDifferentiableFunction< T >) | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (hessian) | |
Hessian type. More... | |
hessianSize_t | hessianSize () const |
Return the size of a hessian. More... | |
bool | isValidHessian (const_hessian_ref hessian) const |
Check if the hessian is valid (check sizes). More... | |
hessian_t | hessian (const_argument_ref argument, size_type functionId=0) const |
Compute the hessian at a given point. More... | |
void | hessian (hessian_ref hessian, const_argument_ref argument, size_type functionId=0) const |
Compute the hessian at a given point. More... | |
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ROBOPTIM_FUNCTION_FWD_TYPEDEFS_ (GenericFunction< T >) | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (gradient) | |
Gradient type. More... | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (jacobian) | |
Jacobian type. More... | |
size_type | gradientSize () const |
Return the gradient size. More... | |
jacobianSize_t | jacobianSize () const |
Return the jacobian size as a pair. More... | |
bool | isValidGradient (const_gradient_ref gradient) const |
Check if the gradient is valid (check size). More... | |
bool | isValidJacobian (const_jacobian_ref jacobian) const |
Check if the jacobian is valid (check sizes). More... | |
jacobian_t | jacobian (const_argument_ref argument) const |
Computes the jacobian. More... | |
void | jacobian (jacobian_ref jacobian, const_argument_ref argument) const |
Computes the jacobian. More... | |
gradient_t | gradient (const_argument_ref argument, size_type functionId=0) const |
Computes the gradient. More... | |
void | gradient (gradient_ref gradient, const_argument_ref argument, size_type functionId=0) const |
Computes the gradient. More... | |
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ROBOPTIM_GENERATE_TRAITS_REFS_ (vector) | |
Basic (column) vector type. More... | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (rowVector) | |
Row vector type. More... | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (matrix) | |
Basic matrix type. More... | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (result) | |
Type of a function evaluation result. More... | |
ROBOPTIM_GENERATE_TRAITS_REFS_ (argument) | |
Type of a function evaluation argument. More... | |
bool | isValidResult (const_result_ref result) const |
Check the given result size is valid. More... | |
GenericFunction< T >::size_type | inputSize () const |
Return the input size (i.e. More... | |
GenericFunction< T >::size_type | outputSize () const |
Return the output size (i.e. More... | |
virtual | ~GenericFunction () |
Trivial destructor. More... | |
result_t | operator() (const_argument_ref argument) const |
Evaluate the function at a specified point. More... | |
void | operator() (result_ref result, const_argument_ref argument) const |
Evaluate the function at a specified point. More... | |
const std::string & | getName () const |
Get function name. More... | |
Protected Member Functions | |
void | impl_compute (result_ref result, const_argument_ref x) const |
Function evaluation. More... | |
void | impl_gradient (gradient_ref gradient, const_argument_ref x, size_type) const |
Gradient evaluation. More... | |
void | impl_jacobian (jacobian_ref jacobian, const_argument_ref x) const |
Jacobian evaluation. More... | |
void | impl_hessian (hessian_ref hessian, const_argument_ref x, size_type) const |
Hessian evaluation. More... | |
value_type | applyPolynomial (const_vector_ref coeffs, const_argument_ref x) const |
Implement Horner's method. More... | |
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GenericTwiceDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) | |
Concrete class constructor should call this constructor. More... | |
void | setZero (hessian_ref symmetric) const |
Set a symmetric matrix to zero. More... | |
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GenericDifferentiableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) | |
Concrete class constructor should call this constructor. More... | |
template<> | |
void | impl_jacobian (jacobian_ref jacobian, const_argument_ref argument) const |
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GenericFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) | |
Concrete class constructor should call this constructor. More... | |
Additional Inherited Members | |
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typedef std::pair< size_type, size_type > | hessianSize_t |
Hessian size type represented as a pair of values. More... | |
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typedef std::pair< size_type, size_type > | jacobianSize_t |
Jacobian size type (pair of values). More... | |
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typedef T | traits_t |
Traits type. More... | |
typedef GenericFunctionTraits< T >::value_type | value_type |
Values type. More... | |
typedef GenericFunctionTraits< T >::size_type | size_type |
Size type. More... | |
typedef std::string | name_t |
Type of a function argument name. More... | |
typedef std::vector< name_t > | names_t |
Type of a vector of function argument names. More... | |
typedef std::pair< value_type, value_type > | interval_t |
Interval type (lower, upper). More... | |
typedef std::vector< interval_t > | intervals_t |
Vector of intervals. More... | |
typedef boost::tuple< value_type, value_type, value_type > | discreteInterval_t |
Types representing a discrete interval. More... | |
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static value_type | epsilon () |
Get the value of the machine epsilon, useful for floating types comparison. More... | |
static value_type | infinity () |
Get the value that symbolizes positive infinity. More... | |
static interval_t | makeInterval (value_type l, value_type u) |
Construct an interval from a lower and upper bound. More... | |
static interval_t | makeInfiniteInterval () |
Construct an infinite interval. More... | |
static interval_t | makeLowerInterval (value_type l) |
Construct an interval from a lower bound. More... | |
static interval_t | makeUpperInterval (value_type u) |
Construct an interval from an upper bound. More... | |
static value_type | getLowerBound (const interval_t &interval) |
Get the lower bound of an interval. More... | |
static value_type | getUpperBound (const interval_t &interval) |
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 value_type | getLowerBound (const discreteInterval_t &interval) |
Get the lower bound of a discrete interval. More... | |
static value_type | getUpperBound (const discreteInterval_t &interval) |
Get the upper bound of a discrete interval. More... | |
static value_type | getStep (const discreteInterval_t &interval) |
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... | |
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static log4cxx::LoggerPtr | logger |
Pointer to function logger (see log4cxx documentation). More... | |
Polynomial function.
Implement a polynomial function using the formula:
where polynomial coefficients are set when the class is instanciated
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explicit |
Build a polynomial function.
coefficients | polynomial coefficients given in increasing degree order |
std::runtime_error |
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inlinevirtual |
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protected |
Implement Horner's method.
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protectedvirtual |
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 |
Implements roboptim::GenericFunction< T >.
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protectedvirtual |
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 | point where the gradient will be computed |
functionId | evaluated function id in the split representation |
Implements roboptim::GenericDifferentiableFunction< T >.
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protectedvirtual |
Hessian evaluation.
Compute the hessian, has to be implemented in concrete classes. The hessian is computed for a specific sub-function which id is passed through the functionId argument.
hessian | hessian will be stored here |
argument | point where the hessian will be computed |
functionId | evaluated function id in the split representation |
Implements roboptim::GenericTwiceDifferentiableFunction< T >.
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protectedvirtual |
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 |
Reimplemented from roboptim::GenericDifferentiableFunction< T >.
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virtual |
Display the function on the specified output stream.
o | output stream used for display |
Reimplemented from roboptim::GenericTwiceDifferentiableFunction< T >.
References roboptim::decindent(), roboptim::iendl(), and roboptim::incindent().
roboptim::Polynomial< T >::ROBOPTIM_TWICE_DIFFERENTIABLE_FUNCTION_FWD_TYPEDEFS_ | ( | GenericTwiceDifferentiableFunction< T > | ) |