dart::optimizer::Function Class Reference

#include <Function.hpp>

Inheritance diagram for dart::optimizer::Function:

Public Member Functions
	Function (const std::string &_name="function")
	Constructor. More...
virtual	~Function ()
	Destructor. More...
virtual void	setName (const std::string &newName)
	Sets the name of this Function. More...
const std::string &	getName () const
	Returns the name of this Function. More...
virtual double	eval (const Eigen::VectorXd &x)=0
	Evaluates and returns the objective function at the point x. More...
virtual void	evalGradient (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd > _grad)
	Evaluates and returns the objective function at the point x. More...
void	evalGradient (const Eigen::VectorXd &_x, Eigen::VectorXd &_grad)
	Evaluates and return the objective function at the point x. More...
virtual void	evalHessian (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor > _Hess)
	Evaluates and return the objective function at the point x. More...

Protected Attributes
std::string	mName
	Name of this function. More...

Constructor & Destructor Documentation

Function()

dart::optimizer::Function::Function ( const std::string &  _name = "function" )

explicit

Constructor.

~Function()

dart::optimizer::Function::~Function ( )

virtual

Destructor.

Member Function Documentation

eval()

virtual double dart::optimizer::Function::eval ( const Eigen::VectorXd &  x )

pure virtual

Evaluates and returns the objective function at the point x.

Implemented in dart::optimizer::ModularFunction, dart::dynamics::InverseKinematics::Constraint, dart::dynamics::InverseKinematics::Objective, dart::dynamics::HierarchicalIK::Constraint, dart::dynamics::HierarchicalIK::Objective, dart::constraint::BalanceConstraint, and dart::optimizer::NullFunction.

evalGradient() [1/2]

void dart::optimizer::Function::evalGradient ( const Eigen::VectorXd &  _x, Eigen::Map< Eigen::VectorXd >  _grad  )

virtual

Evaluates and returns the objective function at the point x.

Reimplemented in dart::optimizer::NullFunction, dart::optimizer::ModularFunction, dart::dynamics::InverseKinematics::Constraint, dart::dynamics::InverseKinematics::Objective, dart::dynamics::HierarchicalIK::Constraint, dart::dynamics::HierarchicalIK::Objective, and dart::constraint::BalanceConstraint.

evalGradient() [2/2]

void dart::optimizer::Function::evalGradient	(	const Eigen::VectorXd &	_x,
		Eigen::VectorXd &	_grad
	)

Evaluates and return the objective function at the point x.

If you have a raw array that the gradient will be passed in, then use evalGradient(const Eigen::VectorXd&, Eigen::Map<Eigen::VectorXd>) for better performance.

evalHessian()

void dart::optimizer::Function::evalHessian ( const Eigen::VectorXd &  _x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor >  _Hess  )

virtual

Evaluates and return the objective function at the point x.

Reimplemented in dart::optimizer::NullFunction, and dart::optimizer::ModularFunction.

getName()

const std::string & dart::optimizer::Function::getName

(

)

const

Returns the name of this Function.

setName()

void dart::optimizer::Function::setName ( const std::string &  newName )

virtual

Sets the name of this Function.

Member Data Documentation

mName

std::string dart::optimizer::Function::mName

protected

Name of this function.