DART  6.10.1
Problem.hpp
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32 
33 #ifndef DART_OPTIMIZER_PROBLEM_HPP_
34 #define DART_OPTIMIZER_PROBLEM_HPP_
35 
36 #include <cstddef>
37 #include <vector>
38 
39 #include <Eigen/Dense>
40 
42 
43 namespace dart {
44 namespace optimizer {
45 
47 class Problem
48 {
49 public:
51  explicit Problem(std::size_t _dim = 0);
52 
54  virtual ~Problem() = default;
55 
56  //--------------------------- Problem Setting --------------------------------
59  void setDimension(std::size_t _dim);
60 
62  std::size_t getDimension() const;
63 
65  void setInitialGuess(const Eigen::VectorXd& _initGuess);
66 
68  const Eigen::VectorXd& getInitialGuess() const;
69 
72  void addSeed(const Eigen::VectorXd& _seed);
73 
77  Eigen::VectorXd& getSeed(std::size_t _index);
78 
80  const Eigen::VectorXd& getSeed(std::size_t _index) const;
81 
84  std::vector<Eigen::VectorXd>& getSeeds();
85 
87  const std::vector<Eigen::VectorXd>& getSeeds() const;
88 
90  void clearAllSeeds();
91 
93  void setLowerBounds(const Eigen::VectorXd& _lb);
94 
96  const Eigen::VectorXd& getLowerBounds() const;
97 
99  void setUpperBounds(const Eigen::VectorXd& _ub);
100 
102  const Eigen::VectorXd& getUpperBounds() const;
103 
105  void setObjective(FunctionPtr _obj);
106 
108  FunctionPtr getObjective() const;
109 
111  void addEqConstraint(FunctionPtr _eqConst);
112 
115  void addIneqConstraint(FunctionPtr _ineqConst);
116 
118  std::size_t getNumEqConstraints() const;
119 
121  std::size_t getNumIneqConstraints() const;
122 
124  FunctionPtr getEqConstraint(std::size_t _idx) const;
125 
127  FunctionPtr getIneqConstraint(std::size_t _idx) const;
128 
130  void removeEqConstraint(FunctionPtr _eqConst);
131 
133  void removeIneqConstraint(FunctionPtr _ineqConst);
134 
136  void removeAllEqConstraints();
137 
140 
141  //------------------------------ Result --------------------------------------
144  void setOptimumValue(double _val);
145 
147  double getOptimumValue() const;
148 
150  void setOptimalSolution(const Eigen::VectorXd& _optParam);
151 
153  const Eigen::VectorXd& getOptimalSolution();
154 
155 protected:
157  std::size_t mDimension;
158 
160  Eigen::VectorXd mInitialGuess;
161 
163  std::vector<Eigen::VectorXd> mSeeds;
164 
166  Eigen::VectorXd mLowerBounds;
167 
169  Eigen::VectorXd mUpperBounds;
170 
173 
175  std::vector<FunctionPtr> mEqConstraints;
176 
178  std::vector<FunctionPtr> mIneqConstraints;
179 
182 
184  Eigen::VectorXd mOptimalSolution;
185 };
186 
187 } // namespace optimizer
188 } // namespace dart
189 
190 #endif // #ifndef DART_OPTIMIZER_PROBLEM_HPP_
class Problem
Definition: Problem.hpp:48
void addIneqConstraint(FunctionPtr _ineqConst)
Add inequality constraint.
Definition: Problem.cpp:218
Eigen::VectorXd mInitialGuess
Initial guess for optimization parameters.
Definition: Problem.hpp:160
void setLowerBounds(const Eigen::VectorXd &_lb)
Set lower bounds for optimization parameters.
Definition: Problem.cpp:172
void setOptimalSolution(const Eigen::VectorXd &_optParam)
Set optimal solution. This function called by Solver.
Definition: Problem.cpp:295
std::size_t getNumIneqConstraints() const
Get number of inequality constraints.
Definition: Problem.cpp:231
FunctionPtr getObjective() const
Get objective function.
Definition: Problem.cpp:205
Problem(std::size_t _dim=0)
Constructor.
Definition: Problem.cpp:58
void removeAllEqConstraints()
Remove all equality constraints.
Definition: Problem.cpp:269
double mOptimumValue
Optimal objective value.
Definition: Problem.hpp:181
double getOptimumValue() const
Get optimum value of the objective function.
Definition: Problem.cpp:289
void setUpperBounds(const Eigen::VectorXd &_ub)
Set upper bounds for optimization parameters.
Definition: Problem.cpp:185
virtual ~Problem()=default
Destructor.
FunctionPtr getEqConstraint(std::size_t _idx) const
Get equality constraint.
Definition: Problem.cpp:237
std::size_t mDimension
Dimension of this problem.
Definition: Problem.hpp:157
Eigen::VectorXd mOptimalSolution
Optimal solution.
Definition: Problem.hpp:184
void setDimension(std::size_t _dim)
Set dimension.
Definition: Problem.cpp:64
std::vector< FunctionPtr > mEqConstraints
Equality constraint functions.
Definition: Problem.hpp:175
void addEqConstraint(FunctionPtr _eqConst)
Add equality constraint.
Definition: Problem.cpp:211
void removeEqConstraint(FunctionPtr _eqConst)
Remove equality constraint.
Definition: Problem.cpp:251
Eigen::VectorXd mLowerBounds
Lower bounds for optimization parameters.
Definition: Problem.hpp:166
std::size_t getDimension() const
Get dimension.
Definition: Problem.cpp:84
std::vector< Eigen::VectorXd > mSeeds
Additional guess hints for the Solver.
Definition: Problem.hpp:163
Eigen::VectorXd mUpperBounds
Upper bounds for optimization parameters.
Definition: Problem.hpp:169
Eigen::VectorXd & getSeed(std::size_t _index)
Get a mutable reference of the seed for the specified index.
Definition: Problem.cpp:130
void removeAllIneqConstraints()
Remove all inequality constraints.
Definition: Problem.cpp:276
const Eigen::VectorXd & getOptimalSolution()
Get optimal solution.
Definition: Problem.cpp:304
void addSeed(const Eigen::VectorXd &_seed)
Add a seed for the Solver to use as a hint for the neighborhood of the solution.
Definition: Problem.cpp:115
void clearAllSeeds()
Clear the seeds that this Problem currently contains.
Definition: Problem.cpp:166
const Eigen::VectorXd & getInitialGuess() const
Set initial guess for opimization parameters.
Definition: Problem.cpp:109
std::size_t getNumEqConstraints() const
Get number of equality constraints.
Definition: Problem.cpp:225
const Eigen::VectorXd & getUpperBounds() const
Get upper bounds for optimization parameters.
Definition: Problem.cpp:192
FunctionPtr getIneqConstraint(std::size_t _idx) const
Get inequality constraint.
Definition: Problem.cpp:244
void setInitialGuess(const Eigen::VectorXd &_initGuess)
Set initial guess for opimization parameters.
Definition: Problem.cpp:90
std::vector< Eigen::VectorXd > & getSeeds()
Get a mutable reference to the full vector of seeds that this Problem currently contains.
Definition: Problem.cpp:154
void removeIneqConstraint(FunctionPtr _ineqConst)
Remove inequality constraint.
Definition: Problem.cpp:260
std::vector< FunctionPtr > mIneqConstraints
Inequality constraint functions.
Definition: Problem.hpp:178
const Eigen::VectorXd & getLowerBounds() const
Get lower bounds for optimization parameters.
Definition: Problem.cpp:179
void setObjective(FunctionPtr _obj)
Set minimum objective function.
Definition: Problem.cpp:198
void setOptimumValue(double _val)
Set optimum value of the objective function.
Definition: Problem.cpp:283
FunctionPtr mObjective
Objective function.
Definition: Problem.hpp:172
std::shared_ptr< Function > FunctionPtr
Definition: Function.hpp:84
Definition: BulletCollisionDetector.cpp:65