roboptim::NTimesDerivableFunction< 2 > Class Template Reference

Explicit specialization for the stop case of NTimesDerivable class. More...

#include <roboptim/core/n-times-derivable-function.hh>

+ Inheritance diagram for roboptim::NTimesDerivableFunction< 2 >:

Public Member Functions

virtual ~NTimesDerivableFunction () throw ()
size_type derivativeSize () const throw ()
 Return the size of the derivative vector.
bool isValidDerivative (const gradient_t &derivative) const throw ()
 Check if a derivative is valid (check sizes).
result_t operator() (double argument) const throw ()
 Evaluate the function at a specified point.
void operator() (result_t &result, double argument) const throw ()
 Evaluate the function at a specified point.
gradient_t derivative (double argument, size_type order=1) const throw ()
 Compute the derivative of the function. Derivative is computed for a certain order, at a given point.
void derivative (gradient_t &derivative, double argument, size_type order=1) const throw ()
 Compute the derivative of the function. Derivative is computed for a certain order, at a given point.
virtual std::ostream & print (std::ostream &o) const throw ()
 Display the function on the specified output stream.
- Public Member Functions inherited from roboptim::TwiceDerivableFunction
hessianSize_t hessianSize () const throw ()
 Return the size of a hessian.
bool isValidHessian (const hessian_t &hessian) const throw ()
 Check if the hessian is valid (check sizes).
hessian_t hessian (const argument_t &argument, size_type functionId=0) const throw ()
 Compute the hessian at a given point.
void hessian (hessian_t &hessian, const argument_t &argument, size_type functionId=0) const throw ()
 Compute the hessian at a given point.
- Public Member Functions inherited from roboptim::DerivableFunction
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) const throw ()
 Computes the jacobian.
void jacobian (jacobian_t &jacobian, const argument_t &argument) const throw ()
 Computes the jacobian.
gradient_t gradient (const argument_t &argument, size_type functionId=0) const throw ()
 Computes the gradient.
void gradient (gradient_t &gradient, const argument_t &argument, size_type functionId=0) const throw ()
 Computes the gradient.
- Public Member Functions inherited from roboptim::Function
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.

Static Public Attributes

static const size_type derivabilityOrder = 2
 Function derivability order.

Protected Member Functions

 NTimesDerivableFunction (size_type outputSize=1, std::string name=std::string()) throw ()
 Concrete class constructor should call this constructor.
void impl_compute (result_t &result, const argument_t &argument) const throw ()
 Function evaluation.
virtual void impl_compute (result_t &result, double t) const =0 throw ()
 Function evaluation.
void impl_gradient (gradient_t &gradient, const argument_t &argument, size_type functionId=0) const throw ()
 Gradient evaluation.
virtual void impl_derivative (gradient_t &derivative, double argument, size_type order=1) const =0 throw ()
 Derivative evaluation.
void impl_hessian (hessian_t &hessian, const argument_t &argument, size_type functionId=0) const throw ()
 Hessian evaluation.
- Protected Member Functions inherited from roboptim::TwiceDerivableFunction
 TwiceDerivableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) throw ()
 Concrete class constructor should call this constructor.
- Protected Member Functions inherited from roboptim::DerivableFunction
 DerivableFunction (size_type inputSize, size_type outputSize=1, std::string name=std::string()) throw ()
 Concrete class constructor should call this constructor.
virtual void impl_jacobian (jacobian_t &jacobian, const argument_t &arg) const throw ()
 Jacobian evaluation.
- Protected Member Functions inherited from roboptim::Function
 Function (size_type inputSize, size_type outputSize=1, std::string name=std::string()) throw ()
 Concrete class constructor should call this constructor.

Additional Inherited Members

- Public Types inherited from roboptim::TwiceDerivableFunction
typedef
ublas::symmetric_matrix
< value_type, ublas::lower > 
hessian_t
 Hessian type.
typedef std::pair< size_type,
size_type
hessianSize_t
 Hessian size type represented as a pair of values.
- Static Public Member Functions inherited from roboptim::Function
static const value_type infinity () throw ()
 Get the value that symbolizes positive infinity.
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.
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.

Detailed Description

template<>
class roboptim::NTimesDerivableFunction< 2 >

Explicit specialization for the stop case of NTimesDerivable class.

This specialization defines the interface of a ``n times derivable function'' and implements generic methods required by upper classes using this class specific interface.

Constructor & Destructor Documentation

virtual roboptim::NTimesDerivableFunction< 2 >::~NTimesDerivableFunction ( ) throw ()
inlinevirtual
roboptim::NTimesDerivableFunction< 2 >::NTimesDerivableFunction ( size_type  outputSize = 1,
std::string  name = std::string () 
) throw ()
inlineprotected

Concrete class constructor should call this constructor.

Parameters
outputSizeoutput size (result size)
namefunction's name

Member Function Documentation

gradient_t roboptim::NTimesDerivableFunction< 2 >::derivative ( double  argument,
size_type  order = 1 
) const throw ()
inline

Compute the derivative of the function. Derivative is computed for a certain order, at a given point.

Parameters
argumentpoint at which the derivative will be computed
orderderivative order (if 0 then function is evaluated)
Returns
derivative vector
void roboptim::NTimesDerivableFunction< 2 >::derivative ( gradient_t derivative,
double  argument,
size_type  order = 1 
) const throw ()
inline

Compute the derivative of the function. Derivative is computed for a certain order, at a given point.

Parameters
derivativederivative will be stored in this vector
argumentpoint at which the derivative will be computed
orderderivative order (if 0 then function is evaluated)

References roboptim::NTimesDerivableFunction< DerivabilityOrder >::derivabilityOrder.

size_type roboptim::NTimesDerivableFunction< 2 >::derivativeSize ( ) const throw ()
inline

Return the size of the derivative vector.

Returns
derivative vector size
void roboptim::NTimesDerivableFunction< 2 >::impl_compute ( result_t result,
const argument_t argument 
) const throw ()
inlineprotectedvirtual

Function evaluation.

Implement generic function evaluation, as required by Function, using this class evaluation method (using a double instead of a vector).

Warning
Do not call this function directly, call operator()(result_t&, const argument_t&) const throw () instead.
Parameters
resultresult will be stored in this vector
argumentpoint at which the function will be evaluated

Implements roboptim::Function.

virtual void roboptim::NTimesDerivableFunction< 2 >::impl_compute ( result_t result,
double  t 
) const throw ()
protectedpure virtual

Function evaluation.

Evaluate the function, has to be implemented in concrete classes.

Warning
Do not call this function directly, call operator()(double) const throw () instead.
Parameters
resultresult will be stored in this vector
tpoint at which the function will be evaluated
virtual void roboptim::NTimesDerivableFunction< 2 >::impl_derivative ( gradient_t derivative,
double  argument,
size_type  order = 1 
) const throw ()
protectedpure virtual

Derivative evaluation.

Compute the derivative, has to be implemented in concrete classes.

Warning
Do not call this function directly, call derivative instead.
Parameters
derivativederivative will be store in this argument
argumentpoint where the gradient will be computed
orderderivative order (if 0 evaluates the function)
void roboptim::NTimesDerivableFunction< 2 >::impl_gradient ( gradient_t gradient,
const argument_t argument,
size_type  functionId = 0 
) const throw ()
inlineprotectedvirtual

Gradient evaluation.

Implement the gradient computation, as required by DerivableFunction. The gradient is computed for a specific sub-function which id is passed through the functionId argument.

Warning
Do not call this function directly, call gradient or derivative instead.
Parameters
gradientgradient will be store in this argument
argumentpoint where the gradient will be computed
functionIdevaluated function id in the split representation

Implements roboptim::DerivableFunction.

void roboptim::NTimesDerivableFunction< 2 >::impl_hessian ( hessian_t hessian,
const argument_t argument,
size_type  functionId = 0 
) const throw ()
inlineprotectedvirtual

Hessian evaluation.

Implement the hessian computation, as required by the TwiceDerivableFunction class using the derivative method. The hessian is computed for a specific sub-function which id is passed through the functionId argument.

Warning
Do not call this function directly, call hessian instead.
Parameters
hessianhessian will be stored here
argumentpoint where the hessian will be computed
functionIdevaluated function id in the split representation

Implements roboptim::TwiceDerivableFunction.

bool roboptim::NTimesDerivableFunction< 2 >::isValidDerivative ( const gradient_t derivative) const throw ()
inline

Check if a derivative is valid (check sizes).

Parameters
derivativederivative vector to be checked
Returns
true if valid, false if not
result_t roboptim::NTimesDerivableFunction< 2 >::operator() ( double  argument) const throw ()
inline

Evaluate the function at a specified point.

The program will abort if the argument does not have the expected size.

Parameters
argumentpoint at which the function will be evaluated
Returns
computed result
void roboptim::NTimesDerivableFunction< 2 >::operator() ( result_t result,
double  argument 
) const throw ()
inline

Evaluate the function at a specified point.

The program will abort if the argument does not have the expected size.

Parameters
resultresult will be stored in this vector
argumentpoint at which the function will be evaluated
Returns
computed result
virtual std::ostream& roboptim::NTimesDerivableFunction< 2 >::print ( std::ostream &  o) const throw ()
inlinevirtual

Display the function on the specified output stream.

Parameters
ooutput stream used for display
Returns
output stream

Reimplemented from roboptim::TwiceDerivableFunction.

References roboptim::NTimesDerivableFunction< DerivabilityOrder >::derivabilityOrder.

Member Data Documentation

const size_type roboptim::NTimesDerivableFunction< 2 >::derivabilityOrder = 2
static

Function derivability order.