class Problem More...

#include <Problem.hpp>

Public Member Functions
	Problem (std::size_t _dim=0)
	Constructor. More...

virtual	~Problem ()=default
	Destructor. More...

void	setDimension (std::size_t _dim)
	Set dimension. More...

std::size_t	getDimension () const
	Get dimension. More...

void	setInitialGuess (const Eigen::VectorXd &_initGuess)
	Set initial guess for opimization parameters. More...

const Eigen::VectorXd &	getInitialGuess () const
	Set initial guess for opimization parameters. More...

void	addSeed (const Eigen::VectorXd &_seed)
	Add a seed for the Solver to use as a hint for the neighborhood of the solution. More...

Eigen::VectorXd &	getSeed (std::size_t _index)
	Get a mutable reference of the seed for the specified index. More...

const Eigen::VectorXd &	getSeed (std::size_t _index) const
	An immutable version of getSeed(std::size_t) More...

std::vector< Eigen::VectorXd > &	getSeeds ()
	Get a mutable reference to the full vector of seeds that this Problem currently contains. More...

const std::vector< Eigen::VectorXd > &	getSeeds () const
	An immutable version of getSeeds() More...

void	clearAllSeeds ()
	Clear the seeds that this Problem currently contains. More...

void	setLowerBounds (const Eigen::VectorXd &_lb)
	Set lower bounds for optimization parameters. More...

const Eigen::VectorXd &	getLowerBounds () const
	Get lower bounds for optimization parameters. More...

void	setUpperBounds (const Eigen::VectorXd &_ub)
	Set upper bounds for optimization parameters. More...

const Eigen::VectorXd &	getUpperBounds () const
	Get upper bounds for optimization parameters. More...

void	setObjective (FunctionPtr _obj)
	Set minimum objective function. More...

FunctionPtr	getObjective () const
	Get objective function. More...

void	addEqConstraint (FunctionPtr _eqConst)
	Add equality constraint. More...

void	addIneqConstraint (FunctionPtr _ineqConst)
	Add inequality constraint. More...

std::size_t	getNumEqConstraints () const
	Get number of equality constraints. More...

std::size_t	getNumIneqConstraints () const
	Get number of inequality constraints. More...

FunctionPtr	getEqConstraint (std::size_t _idx) const
	Get equality constraint. More...

FunctionPtr	getIneqConstraint (std::size_t _idx) const
	Get inequality constraint. More...

void	removeEqConstraint (FunctionPtr _eqConst)
	Remove equality constraint. More...

void	removeIneqConstraint (FunctionPtr _ineqConst)
	Remove inequality constraint. More...

void	removeAllEqConstraints ()
	Remove all equality constraints. More...

void	removeAllIneqConstraints ()
	Remove all inequality constraints. More...

void	setOptimumValue (double _val)
	Set optimum value of the objective function. More...

double	getOptimumValue () const
	Get optimum value of the objective function. More...

void	setOptimalSolution (const Eigen::VectorXd &_optParam)
	Set optimal solution. This function called by Solver. More...

const Eigen::VectorXd &	getOptimalSolution ()
	Get optimal solution. More...

Protected Attributes
std::size_t	mDimension
	Dimension of this problem. More...

Eigen::VectorXd	mInitialGuess
	Initial guess for optimization parameters. More...

std::vector< Eigen::VectorXd >	mSeeds
	Additional guess hints for the Solver. More...

Eigen::VectorXd	mLowerBounds
	Lower bounds for optimization parameters. More...

Eigen::VectorXd	mUpperBounds
	Upper bounds for optimization parameters. More...

FunctionPtr	mObjective
	Objective function. More...

std::vector< FunctionPtr >	mEqConstraints
	Equality constraint functions. More...

std::vector< FunctionPtr >	mIneqConstraints
	Inequality constraint functions. More...

double	mOptimumValue
	Optimal objective value. More...

Eigen::VectorXd	mOptimalSolution
	Optimal solution. More...

Detailed Description

class Problem

Constructor & Destructor Documentation

◆ Problem()

dart::optimizer::Problem::Problem ( std::size_t _dim = 0 )

explicit

Constructor.

◆ ~Problem()

virtual dart::optimizer::Problem::~Problem ( )

virtualdefault

Destructor.

Member Function Documentation

◆ addEqConstraint()

void dart::optimizer::Problem::addEqConstraint ( FunctionPtr _eqConst )

Add equality constraint.

◆ addIneqConstraint()

void dart::optimizer::Problem::addIneqConstraint ( FunctionPtr _ineqConst )

Add inequality constraint.

Inequality constraints must evaluate to LESS THAN or equal to zero (within some tolerance) to be satisfied.

◆ addSeed()

void dart::optimizer::Problem::addSeed ( const Eigen::VectorXd & _seed )

Add a seed for the Solver to use as a hint for the neighborhood of the solution.

◆ clearAllSeeds()

void dart::optimizer::Problem::clearAllSeeds ( )

Clear the seeds that this Problem currently contains.

◆ getDimension()

std::size_t dart::optimizer::Problem::getDimension ( ) const

Get dimension.

◆ getEqConstraint()

FunctionPtr dart::optimizer::Problem::getEqConstraint ( std::size_t _idx ) const

Get equality constraint.

◆ getIneqConstraint()

FunctionPtr dart::optimizer::Problem::getIneqConstraint ( std::size_t _idx ) const

Get inequality constraint.

◆ getInitialGuess()

const Eigen::VectorXd & dart::optimizer::Problem::getInitialGuess ( ) const

Set initial guess for opimization parameters.

◆ getLowerBounds()

const Eigen::VectorXd & dart::optimizer::Problem::getLowerBounds ( ) const

Get lower bounds for optimization parameters.

◆ getNumEqConstraints()

std::size_t dart::optimizer::Problem::getNumEqConstraints ( ) const

Get number of equality constraints.

◆ getNumIneqConstraints()

std::size_t dart::optimizer::Problem::getNumIneqConstraints ( ) const

Get number of inequality constraints.

◆ getObjective()

FunctionPtr dart::optimizer::Problem::getObjective ( ) const

Get objective function.

◆ getOptimalSolution()

const Eigen::VectorXd & dart::optimizer::Problem::getOptimalSolution ( )

Get optimal solution.

◆ getOptimumValue()

double dart::optimizer::Problem::getOptimumValue ( ) const

Get optimum value of the objective function.

◆ getSeed() [1/2]

Eigen::VectorXd & dart::optimizer::Problem::getSeed ( std::size_t _index )

Get a mutable reference of the seed for the specified index.

If an out-of-bounds index is provided a warning will print, and a reference to the initial guess will be returned instead.

◆ getSeed() [2/2]

const Eigen::VectorXd & dart::optimizer::Problem::getSeed ( std::size_t _index ) const

An immutable version of getSeed(std::size_t)

◆ getSeeds() [1/2]

std::vector< Eigen::VectorXd > & dart::optimizer::Problem::getSeeds ( )

Get a mutable reference to the full vector of seeds that this Problem currently contains.

◆ getSeeds() [2/2]

const std::vector< Eigen::VectorXd > & dart::optimizer::Problem::getSeeds ( ) const

An immutable version of getSeeds()

◆ getUpperBounds()

const Eigen::VectorXd & dart::optimizer::Problem::getUpperBounds ( ) const

Get upper bounds for optimization parameters.

◆ removeAllEqConstraints()

void dart::optimizer::Problem::removeAllEqConstraints ( )

Remove all equality constraints.

◆ removeAllIneqConstraints()

void dart::optimizer::Problem::removeAllIneqConstraints ( )

Remove all inequality constraints.

◆ removeEqConstraint()

void dart::optimizer::Problem::removeEqConstraint ( FunctionPtr _eqConst )

Remove equality constraint.

◆ removeIneqConstraint()

void dart::optimizer::Problem::removeIneqConstraint ( FunctionPtr _ineqConst )

Remove inequality constraint.

◆ setDimension()

void dart::optimizer::Problem::setDimension ( std::size_t _dim )

Set dimension.

Note: Changing the dimension will clear out the initial guess and any seeds that have been added.

◆ setInitialGuess()

void dart::optimizer::Problem::setInitialGuess ( const Eigen::VectorXd & _initGuess )

Set initial guess for opimization parameters.

◆ setLowerBounds()

void dart::optimizer::Problem::setLowerBounds ( const Eigen::VectorXd & _lb )

Set lower bounds for optimization parameters.

◆ setObjective()

void dart::optimizer::Problem::setObjective ( FunctionPtr _obj )

Set minimum objective function.

◆ setOptimalSolution()

void dart::optimizer::Problem::setOptimalSolution ( const Eigen::VectorXd & _optParam )

Set optimal solution. This function called by Solver.

◆ setOptimumValue()

void dart::optimizer::Problem::setOptimumValue ( double _val )

Set optimum value of the objective function.

This function called by Solver.

◆ setUpperBounds()

void dart::optimizer::Problem::setUpperBounds ( const Eigen::VectorXd & _ub )

Set upper bounds for optimization parameters.

Member Data Documentation

◆ mDimension

std::size_t dart::optimizer::Problem::mDimension

protected

Dimension of this problem.

◆ mEqConstraints

std::vector<FunctionPtr> dart::optimizer::Problem::mEqConstraints

protected

Equality constraint functions.

◆ mIneqConstraints

std::vector<FunctionPtr> dart::optimizer::Problem::mIneqConstraints

protected

Inequality constraint functions.

◆ mInitialGuess

Eigen::VectorXd dart::optimizer::Problem::mInitialGuess

protected

Initial guess for optimization parameters.

◆ mLowerBounds

Eigen::VectorXd dart::optimizer::Problem::mLowerBounds

protected

Lower bounds for optimization parameters.

◆ mObjective

FunctionPtr dart::optimizer::Problem::mObjective

protected

Objective function.

◆ mOptimalSolution

Eigen::VectorXd dart::optimizer::Problem::mOptimalSolution

protected

Optimal solution.

◆ mOptimumValue

double dart::optimizer::Problem::mOptimumValue

protected

Optimal objective value.

◆ mSeeds

std::vector<Eigen::VectorXd> dart::optimizer::Problem::mSeeds

protected

Additional guess hints for the Solver.

◆ mUpperBounds

Eigen::VectorXd dart::optimizer::Problem::mUpperBounds

protected

Upper bounds for optimization parameters.

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Problem()

◆ ~Problem()

Member Function Documentation

◆ addEqConstraint()

◆ addIneqConstraint()

◆ addSeed()

◆ clearAllSeeds()

◆ getDimension()

◆ getEqConstraint()

◆ getIneqConstraint()

◆ getInitialGuess()

◆ getLowerBounds()

◆ getNumEqConstraints()

◆ getNumIneqConstraints()

◆ getObjective()

◆ getOptimalSolution()

◆ getOptimumValue()

◆ getSeed() [1/2]

◆ getSeed() [2/2]

◆ getSeeds() [1/2]

◆ getSeeds() [2/2]

◆ getUpperBounds()

◆ removeAllEqConstraints()

◆ removeAllIneqConstraints()

◆ removeEqConstraint()

◆ removeIneqConstraint()

◆ setDimension()

◆ setInitialGuess()

◆ setLowerBounds()

◆ setObjective()

◆ setOptimalSolution()

◆ setOptimumValue()

◆ setUpperBounds()

Member Data Documentation

◆ mDimension

◆ mEqConstraints

◆ mIneqConstraints

◆ mInitialGuess

◆ mLowerBounds

◆ mObjective

◆ mOptimalSolution

◆ mOptimumValue

◆ mSeeds

◆ mUpperBounds