Weighted quadratic distance \(\frac{1}{2}\|x\ominus \bar{x}\|^2_W\) on a space. More...

#include <proxsuite-nlp/modelling/costs/squared-distance.hpp>

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

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

Public Types
using	Scalar = _Scalar

using	StateResidual = ManifoldDifferenceToPoint<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	Base = QuadraticResidualCostTpl<Scalar>

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

using	FunctionType = C2FunctionTpl<Scalar>

using	RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor>

using	Base = CostFunctionBaseTpl<Scalar>

using	FunctionPtr = shared_ptr<FunctionType>

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
	QuadraticDistanceCostTpl (const polymorphic< Manifold > &space, const ConstVectorRef &target, const ConstMatrixRef &weights)

	QuadraticDistanceCostTpl (const polymorphic< Manifold > &space, const ConstVectorRef &target)

	QuadraticDistanceCostTpl (const polymorphic< Manifold > &space)

ConstVectorRef	getTarget () const

void	updateTarget (const ConstVectorRef &x)

Public Member Functions inherited from proxsuite::nlp::QuadraticResidualCostTpl< _Scalar >
	QuadraticResidualCostTpl (FunctionPtr residual, const ConstMatrixRef &weights, const ConstVectorRef &slope, const Scalar constant=Scalar(0.))

	QuadraticResidualCostTpl (FunctionPtr residual, const ConstMatrixRef &weights, const Scalar constant=Scalar(0.))

template<typename Underlying , typename... ResidualArgs>
	QuadraticResidualCostTpl (const ConstMatrixRef &weights, const ConstVectorRef &slope, const Scalar constant, ResidualArgs &...args)
	Constructor using the template parameter as the underlying type of the residual.

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

VectorXs	computeGradient (const ConstVectorRef &x) const

MatrixXs	computeHessian (const ConstVectorRef &x) const

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

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

FunctionPtr	residual_
	Residual function \(r(x)\) the composite cost is constructed over.

MatrixXs	weights_
	Weights \(Q\).

VectorXs	slope_
	Slope \(b\).

Scalar	constant_
	Constant term \(c\).

bool	gauss_newton_

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

Additional Inherited Members
Protected Attributes inherited from proxsuite::nlp::QuadraticResidualCostTpl< _Scalar >
VectorXs	err

VectorXs	tmp_w_err

MatrixXs	Jres

RowMatrixXs	JtW

MatrixXs	H

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

int	ndx_

int	nr_

Detailed Description

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

Weighted quadratic distance \(\frac{1}{2}\|x\ominus \bar{x}\|^2_W\) on a space.

This function subclasses from QuadraticResidualCost and provides a convenient constructor. It uses ManifoldDifferenceToPoint under the hood as the input residual for the parent. This struct also exposes a method to update the target point.

Definition at line 18 of file squared-distance.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

Definition at line 19 of file squared-distance.hpp.

◆ StateResidual

template<typename _Scalar >

using proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::StateResidual = ManifoldDifferenceToPoint<Scalar>

Definition at line 21 of file squared-distance.hpp.

◆ Manifold

template<typename _Scalar >

using proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 22 of file squared-distance.hpp.

◆ Base

template<typename _Scalar >

using proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::Base = QuadraticResidualCostTpl<Scalar>

Definition at line 23 of file squared-distance.hpp.

Constructor & Destructor Documentation

◆ QuadraticDistanceCostTpl() [1/3]

template<typename _Scalar >

proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::QuadraticDistanceCostTpl	(	const polymorphic< Manifold > &	space,
		const ConstVectorRef &	target,
		const ConstMatrixRef &	weights )

inline

Definition at line 27 of file squared-distance.hpp.

◆ QuadraticDistanceCostTpl() [2/3]

template<typename _Scalar >

proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::QuadraticDistanceCostTpl	(	const polymorphic< Manifold > &	space,
		const ConstVectorRef &	target )

inline

Definition at line 32 of file squared-distance.hpp.

◆ QuadraticDistanceCostTpl() [3/3]

template<typename _Scalar >

proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::QuadraticDistanceCostTpl ( const polymorphic< Manifold > & space )

inline

Definition at line 37 of file squared-distance.hpp.

Member Function Documentation

◆ getTarget()

template<typename _Scalar >

ConstVectorRef proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::getTarget ( ) const

inline

Definition at line 40 of file squared-distance.hpp.

◆ updateTarget()

template<typename _Scalar >

void proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::updateTarget ( const ConstVectorRef & x )

inline

Definition at line 44 of file squared-distance.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

proxsuite::nlp::QuadraticDistanceCostTpl< _Scalar >::Scalar

Definition at line 20 of file squared-distance.hpp.

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

include/proxsuite-nlp/modelling/costs/squared-distance.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ StateResidual

◆ Manifold

◆ Base

Constructor & Destructor Documentation

◆ QuadraticDistanceCostTpl() [1/3]

◆ QuadraticDistanceCostTpl() [2/3]

◆ QuadraticDistanceCostTpl() [3/3]

Member Function Documentation

◆ getTarget()

◆ updateTarget()

Member Data Documentation

◆ Scalar