Defines the sum of one or more cost functions \(c_1 + c_2 + \cdots\). More...

#include <proxsuite-nlp/cost-sum.hpp>

Inheritance diagram for proxsuite::nlp::CostSumTpl< _Scalar >:

Collaboration diagram for proxsuite::nlp::CostSumTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = CostFunctionBaseTpl<Scalar>

using	BasePtr = shared_ptr<Base>

Public Types inherited from proxsuite::nlp::CostFunctionBaseTpl< _Scalar >
using	Scalar

using	Base

Public Types inherited from proxsuite::nlp::C2FunctionTpl< _Scalar >
using	Scalar

using	Base

Public Types inherited from proxsuite::nlp::C1FunctionTpl< _Scalar >
using	Scalar

using	Base

Public Types inherited from proxsuite::nlp::BaseFunctionTpl< _Scalar >
using	Scalar

Public Types inherited from proxsuite::nlp::math_types< _Scalar >
using	Scalar = _Scalar

Public Member Functions
	CostSumTpl (int nx, int ndx)
	cost component weights

	CostSumTpl (int nx, int ndx, const std::vector< BasePtr > &comps, const std::vector< Scalar > &weights)
	Constructor with a predefined vector of components.

std::size_t	numComponents () const

auto	clone () const

Scalar	call (const ConstVectorRef &x) const
	Evaluate the cost function.

void	computeGradient (const ConstVectorRef &x, VectorRef out) const

void	computeHessian (const ConstVectorRef &x, MatrixRef out) const

void	addComponent (shared_ptr< Base > comp, const Scalar w=1.)

CostSumTpl< Scalar > &	operator+= (const shared_ptr< Base > &other)

CostSumTpl< Scalar > &	operator+= (const CostSumTpl< Scalar > &other)

CostSumTpl< Scalar > &	operator*= (Scalar rhs)

Public Member Functions inherited from proxsuite::nlp::CostFunctionBaseTpl< _Scalar >
	CostFunctionBaseTpl (const int nx, const int ndx)

	CostFunctionBaseTpl (const ManifoldAbstractTpl< _Scalar > &manifold)

VectorXs	computeGradient (const ConstVectorRef &x) const

MatrixXs	computeHessian (const ConstVectorRef &x) const

VectorXs	operator() (const ConstVectorRef &x) const
	Evaluate the residual at a given point x.

void	computeJacobian (const ConstVectorRef &x, MatrixRef Jout) const
	Jacobian matrix of the constraint function.

void	vectorHessianProduct (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Hout) const
	Vector-hessian product.

virtual	~CostFunctionBaseTpl ()=default

Public Member Functions inherited from proxsuite::nlp::C2FunctionTpl< _Scalar >
	C2FunctionTpl (const int nx, const int ndx, const int nr)

	C2FunctionTpl (const ManifoldAbstractTpl< _Scalar > &manifold, const int nr)

Public Member Functions inherited from proxsuite::nlp::C1FunctionTpl< _Scalar >
	C1FunctionTpl (const int nx, const int ndx, const int nr)

	C1FunctionTpl (const ManifoldAbstractTpl< _Scalar > &manifold, const int nr)

MatrixXs	computeJacobian (const ConstVectorRef &x) const
	Jacobian matrix of the constraint function.

Public Member Functions inherited from proxsuite::nlp::BaseFunctionTpl< _Scalar >
	BaseFunctionTpl (const int nx, const int ndx, const int nr)

	BaseFunctionTpl (const ManifoldAbstractTpl< _Scalar > &manifold, const int nr)

virtual	~BaseFunctionTpl ()=default

int	nx () const
	Get function input vector size (representation of manifold).

int	ndx () const
	Get input manifold's tangent space dimension.

int	nr () const
	Get function codimension.

Public Attributes
	Scalar

std::vector< BasePtr >	components_

std::vector< Scalar >	weights_
	component sub-costs

Public Attributes inherited from proxsuite::nlp::CostFunctionBaseTpl< _Scalar >
	Scalar

Public Attributes inherited from proxsuite::nlp::C2FunctionTpl< _Scalar >
	Scalar

Public Attributes inherited from proxsuite::nlp::C1FunctionTpl< _Scalar >
	Scalar

Public Attributes inherited from proxsuite::nlp::BaseFunctionTpl< _Scalar >
	Scalar

Public Attributes inherited from proxsuite::nlp::math_types< _Scalar >
	_Scalar

Friends
std::ostream &	operator<< (std::ostream &ostr, const CostSumTpl< Scalar > &cost)

auto	operator* (CostSumTpl const &self, Scalar a) -> shared_ptr< CostSumTpl >

auto	operator* (Scalar a, CostSumTpl const &self)

auto	operator- (CostSumTpl const &self)

Additional Inherited Members
Protected Attributes inherited from proxsuite::nlp::BaseFunctionTpl< _Scalar >
int	nx_

int	ndx_

int	nr_

Detailed Description

template<typename _Scalar>
struct proxsuite::nlp::CostSumTpl< _Scalar >

Defines the sum of one or more cost functions \(c_1 + c_2 + \cdots\).

Definition at line 12 of file cost-sum.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

using proxsuite::nlp::CostSumTpl< _Scalar >::Scalar = _Scalar

Definition at line 14 of file cost-sum.hpp.

◆ Base

template<typename _Scalar >

using proxsuite::nlp::CostSumTpl< _Scalar >::Base = CostFunctionBaseTpl<Scalar>

Definition at line 16 of file cost-sum.hpp.

◆ BasePtr

template<typename _Scalar >

using proxsuite::nlp::CostSumTpl< _Scalar >::BasePtr = shared_ptr<Base>

Definition at line 17 of file cost-sum.hpp.

Constructor & Destructor Documentation

◆ CostSumTpl() [1/2]

template<typename _Scalar >

proxsuite::nlp::CostSumTpl< _Scalar >::CostSumTpl	(	int	nx,
		int	ndx )

inline

cost component weights

Definition at line 22 of file cost-sum.hpp.

◆ CostSumTpl() [2/2]

template<typename _Scalar >

proxsuite::nlp::CostSumTpl< _Scalar >::CostSumTpl	(	int	nx,
		int	ndx,
		const std::vector< BasePtr > &	comps,
		const std::vector< Scalar > &	weights )

inline

Constructor with a predefined vector of components.

Definition at line 25 of file cost-sum.hpp.

Member Function Documentation

◆ numComponents()

template<typename _Scalar >

std::size_t proxsuite::nlp::CostSumTpl< _Scalar >::numComponents ( ) const

inline

Definition at line 31 of file cost-sum.hpp.

◆ clone()

template<typename _Scalar >

auto proxsuite::nlp::CostSumTpl< _Scalar >::clone ( ) const

inline

Definition at line 33 of file cost-sum.hpp.

◆ call()

template<typename _Scalar >

Scalar proxsuite::nlp::CostSumTpl< _Scalar >::call ( const ConstVectorRef & x ) const

inlinevirtual

Evaluate the cost function.

Implements proxsuite::nlp::CostFunctionBaseTpl< _Scalar >.

Definition at line 35 of file cost-sum.hpp.

◆ computeGradient()

template<typename _Scalar >

void proxsuite::nlp::CostSumTpl< _Scalar >::computeGradient	(	const ConstVectorRef &	x,
		VectorRef	out ) const

inlinevirtual

Implements proxsuite::nlp::CostFunctionBaseTpl< _Scalar >.

Definition at line 43 of file cost-sum.hpp.

◆ computeHessian()

template<typename _Scalar >

void proxsuite::nlp::CostSumTpl< _Scalar >::computeHessian	(	const ConstVectorRef &	x,
		MatrixRef	out ) const

inlinevirtual

Implements proxsuite::nlp::CostFunctionBaseTpl< _Scalar >.

Definition at line 50 of file cost-sum.hpp.

◆ addComponent()

template<typename _Scalar >

void proxsuite::nlp::CostSumTpl< _Scalar >::addComponent	(	shared_ptr< Base >	comp,
		const Scalar	w = 1. )

inline

Definition at line 59 of file cost-sum.hpp.

◆ operator+=() [1/2]

template<typename _Scalar >

CostSumTpl< Scalar > & proxsuite::nlp::CostSumTpl< _Scalar >::operator+= ( const shared_ptr< Base > & other )

inline

Definition at line 64 of file cost-sum.hpp.

◆ operator+=() [2/2]

template<typename _Scalar >

CostSumTpl< Scalar > & proxsuite::nlp::CostSumTpl< _Scalar >::operator+= ( const CostSumTpl< Scalar > & other )

inline

Definition at line 69 of file cost-sum.hpp.

◆ operator*=()

template<typename _Scalar >

CostSumTpl< Scalar > & proxsuite::nlp::CostSumTpl< _Scalar >::operator*= ( Scalar rhs )

inline

Definition at line 77 of file cost-sum.hpp.

Friends And Related Symbol Documentation

◆ operator<<

template<typename _Scalar >

std::ostream & operator<<	(	std::ostream &	ostr,
		const CostSumTpl< Scalar > &	cost )

friend

Definition at line 85 of file cost-sum.hpp.

◆ operator* [1/2]

template<typename _Scalar >

auto operator*	(	CostSumTpl< _Scalar > const &	self,
		Scalar	a ) -> shared_ptr<CostSumTpl>

friend

Definition at line 100 of file cost-sum.hpp.

◆ operator* [2/2]

template<typename _Scalar >

auto operator*	(	Scalar	a,
		CostSumTpl< _Scalar > const &	self )

friend

Definition at line 107 of file cost-sum.hpp.

◆ operator-

template<typename _Scalar >

auto operator- ( CostSumTpl< _Scalar > const & self )

friend

Definition at line 109 of file cost-sum.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

proxsuite::nlp::CostSumTpl< _Scalar >::Scalar

Definition at line 15 of file cost-sum.hpp.

◆ components_

template<typename _Scalar >

std::vector<BasePtr> proxsuite::nlp::CostSumTpl< _Scalar >::components_

Definition at line 19 of file cost-sum.hpp.

◆ weights_

template<typename _Scalar >

std::vector<Scalar> proxsuite::nlp::CostSumTpl< _Scalar >::weights_

component sub-costs

Definition at line 20 of file cost-sum.hpp.

The documentation for this struct was generated from the following file:

include/proxsuite-nlp/cost-sum.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BasePtr

Constructor & Destructor Documentation

◆ CostSumTpl() [1/2]

◆ CostSumTpl() [2/2]

Member Function Documentation

◆ numComponents()

◆ clone()

◆ call()

◆ computeGradient()

◆ computeHessian()

◆ addComponent()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator*=()

Friends And Related Symbol Documentation

◆ operator<<

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator-

Member Data Documentation

◆ Scalar

◆ components_

◆ weights_