dart::optimizer::NullFunction Class Reference

NullFunction is a constant-zero Function. More...

#include <Function.hpp>

Inheritance diagram for dart::optimizer::NullFunction:

Public Member Functions
	NullFunction (const std::string &_name="null_function")
	Constructor. More...
	~NullFunction () override
	Destructor. More...
double	eval (const Eigen::VectorXd &) override
	eval() will always return exactly zero More...
void	evalGradient (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd > _grad) override
	evalGradient will always set _grad to a zero vector that matches the dimensionality of _x More...
void	evalHessian (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor > _Hess) override
	evalHessian() will always set _Hess to a zero matrix that matches the dimensionality of _x 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...
void	evalGradient (const Eigen::VectorXd &_x, Eigen::VectorXd &_grad)
	Evaluates and return the objective function at the point x. More...

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

Detailed Description

NullFunction is a constant-zero Function.

Constructor & Destructor Documentation

NullFunction()

dart::optimizer::NullFunction::NullFunction ( const std::string &  _name = "null_function" )

explicit

Constructor.

~NullFunction()

dart::optimizer::NullFunction::~NullFunction ( )

override

Destructor.

Member Function Documentation

eval()

double dart::optimizer::NullFunction::eval ( const Eigen::VectorXd &  )

overridevirtual

eval() will always return exactly zero

Implements dart::optimizer::Function.

evalGradient() [1/2]

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

overridevirtual

evalGradient will always set _grad to a zero vector that matches the dimensionality of _x

Reimplemented from dart::optimizer::Function.

evalGradient() [2/2]

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

inherited

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::NullFunction::evalHessian ( const Eigen::VectorXd &  _x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor >  _Hess  )

overridevirtual

evalHessian() will always set _Hess to a zero matrix that matches the dimensionality of _x

Reimplemented from dart::optimizer::Function.

getName()

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

inherited

Returns the name of this Function.

setName()

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

virtualinherited

Sets the name of this Function.

Member Data Documentation

mName

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

protectedinherited

Name of this function.