#include <GenericMultiObjectiveProblem.hpp>

Inheritance diagram for dart::optimizer::GenericMultiObjectiveProblem:

Public Member Functions
	GenericMultiObjectiveProblem (std::size_t dim, std::size_t integerDim=0u)
	Constructor.

	~GenericMultiObjectiveProblem () override=default
	Destructor.

virtual std::ostream &	print (std::ostream &os) const
	Prints information of this class to a stream.

Objectives
std::size_t	getObjectiveDimension () const override
	Returns the total dimension of objective functions.

void	setObjectiveFunctions (const std::vector< FunctionPtr > &objectives)
	Sets objective functions to be minimized.

void	addObjectiveFunction (FunctionPtr objective)
	Adds a minimum objective function.

std::size_t	getNumObjectiveFunctions () const
	Returns the number objective functions.

const std::vector< FunctionPtr > &	getObjectiveFunctions () const
	Returns objective functions.

void	removeObjectiveFunction (FunctionPtr function)
	Removes an objective function.

void	removeAllObjectiveFunctions ()
	Removes all objective functions.

Equality Constraints
std::size_t	getEqConstraintDimension () const override
	Returns the total dimension of equality constraints.

void	addEqConstraintFunction (FunctionPtr eqConst)
	Adds equality constraint.

std::size_t	getNumEqualityConstraintFunctions () const
	Returns number of equality constraints.

FunctionPtr	getEqConstraintFunction (std::size_t index) const
	Returns equality constraint.

void	removeEqConstraintFunction (FunctionPtr eqConst)
	Removes equality constraint.

void	removeAllEqConstraintFunctions ()
	Removes all equality constraints.

Inequality Constraints
std::size_t	getIneqConstraintDimension () const override
	Returns the total dimension of inequality constraints.

void	addIneqConstraintFunction (FunctionPtr ineqConst)
	Adds inequality constraint.

std::size_t	getNumIneqConstraintFunctions () const
	Returns number of inequality constraints.

FunctionPtr	getIneqConstraintFunction (std::size_t index) const
	Returns inequality constraint.

void	removeIneqConstraintFunction (FunctionPtr ineqConst)
	Removes inequality constraint.

void	removeAllIneqConstraintFunctions ()
	Removes all inequality constraints.

Evaluations
Eigen::VectorXd	evaluateObjectives (const Eigen::VectorXd &x) const override
	Evaluates objectives.

Eigen::VectorXd	evaluateEqConstraints (const Eigen::VectorXd &x) const override
	Evaluates equality constraints.

Eigen::VectorXd	evaluateIneqConstraints (const Eigen::VectorXd &x) const override
	Evaluates inequality constraints.

std::size_t	getFitnessDimension () const
	Return dimension of fitness.

Eigen::VectorXd	evaluateFitness (const Eigen::VectorXd &x) const
	Evaluates fitness, which is [objectives, equality constraints, inequality constraints].

Solution
virtual void	setSolutionDimension (std::size_t dim, std::size_t integerDim=0u)
	Sets the dimension of the solution.

virtual std::size_t	getSolutionDimension () const
	Returns dimension of the solution.

std::size_t	getDoubleDimension () const
	Returns dimension of the floating-point part of the solution.

virtual void	setIntegerDimension (std::size_t dim)
	Sets dimension of the integers in the decision vector.

virtual std::size_t	getIntegerDimension () const
	Returns dimension of the integers in the decision vector.

void	setLowerBounds (const Eigen::VectorXd &lb)
	Sets lower bounds for optimization parameters.

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

void	setUpperBounds (const Eigen::VectorXd &ub)
	Sets upper bounds for optimization parameters.

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

Protected Attributes
std::vector< FunctionPtr >	mObjectiveFunctions
	Objective functions.

std::vector< FunctionPtr >	mEqConstraintFunctions
	Equality constraint functions.

std::vector< FunctionPtr >	mIneqConstraintFunctions
	Inequality constraint functions.

std::size_t	mDimension
	Dimension of the decision vector (or optimization parameters)

std::size_t	mIntegerDimension
	Dimension of integer in the decision vector.

Eigen::VectorXd	mLowerBounds
	Lower bounds for optimization parameters.

Eigen::VectorXd	mUpperBounds
	Upper bounds for optimization parameters.

Private Attributes
std::size_t	mObjectiveDimension
	Cache for objective dimension.

std::size_t	mEqConstraintDimension
	Cache for equality constraint dimension.

std::size_t	mIneqConstraintDimension
	Cache for inequality constraint dimension.

Constructor & Destructor Documentation

◆ GenericMultiObjectiveProblem()

dart::optimizer::GenericMultiObjectiveProblem::GenericMultiObjectiveProblem	(	std::size_t	dim,
		std::size_t	integerDim = `0u`
	)

explicit

Constructor.

◆ ~GenericMultiObjectiveProblem()

dart::optimizer::GenericMultiObjectiveProblem::~GenericMultiObjectiveProblem ( )

overridedefault

Destructor.

Member Function Documentation

◆ addEqConstraintFunction()

void dart::optimizer::GenericMultiObjectiveProblem::addEqConstraintFunction ( FunctionPtr eqConst )

Adds equality constraint.

◆ addIneqConstraintFunction()

void dart::optimizer::GenericMultiObjectiveProblem::addIneqConstraintFunction ( FunctionPtr ineqConst )

Adds inequality constraint.

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

◆ addObjectiveFunction()

void dart::optimizer::GenericMultiObjectiveProblem::addObjectiveFunction ( FunctionPtr objective )

Adds a minimum objective function.

◆ evaluateEqConstraints()

Eigen::VectorXd dart::optimizer::GenericMultiObjectiveProblem::evaluateEqConstraints ( const Eigen::VectorXd & x ) const

overridevirtual

Evaluates equality constraints.

Reimplemented from dart::optimizer::MultiObjectiveProblem.

◆ evaluateFitness()

Eigen::VectorXd dart::optimizer::GenericMultiObjectiveProblem::evaluateFitness ( const Eigen::VectorXd & x ) const

Evaluates fitness, which is [objectives, equality constraints, inequality constraints].

◆ evaluateIneqConstraints()

Eigen::VectorXd dart::optimizer::GenericMultiObjectiveProblem::evaluateIneqConstraints ( const Eigen::VectorXd & x ) const

overridevirtual

Evaluates inequality constraints.

Reimplemented from dart::optimizer::MultiObjectiveProblem.

◆ evaluateObjectives()

Eigen::VectorXd dart::optimizer::GenericMultiObjectiveProblem::evaluateObjectives ( const Eigen::VectorXd & x ) const

overridevirtual

Evaluates objectives.

Implements dart::optimizer::MultiObjectiveProblem.

◆ getDoubleDimension()

std::size_t dart::optimizer::MultiObjectiveProblem::getDoubleDimension ( ) const

inherited

Returns dimension of the floating-point part of the solution.

◆ getEqConstraintDimension()

std::size_t dart::optimizer::GenericMultiObjectiveProblem::getEqConstraintDimension ( ) const

overridevirtual

Returns the total dimension of equality constraints.

Reimplemented from dart::optimizer::MultiObjectiveProblem.

◆ getEqConstraintFunction()

FunctionPtr dart::optimizer::GenericMultiObjectiveProblem::getEqConstraintFunction ( std::size_t index ) const

Returns equality constraint.

◆ getFitnessDimension()

std::size_t dart::optimizer::GenericMultiObjectiveProblem::getFitnessDimension ( ) const

Return dimension of fitness.

◆ getIneqConstraintDimension()

std::size_t dart::optimizer::GenericMultiObjectiveProblem::getIneqConstraintDimension ( ) const

overridevirtual

Returns the total dimension of inequality constraints.

Reimplemented from dart::optimizer::MultiObjectiveProblem.

◆ getIneqConstraintFunction()

FunctionPtr dart::optimizer::GenericMultiObjectiveProblem::getIneqConstraintFunction ( std::size_t index ) const

Returns inequality constraint.

◆ getIntegerDimension()

std::size_t dart::optimizer::MultiObjectiveProblem::getIntegerDimension ( ) const

virtualinherited

Returns dimension of the integers in the decision vector.

◆ getLowerBounds()

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

inherited

Returns lower bounds for optimization parameters.

◆ getNumEqualityConstraintFunctions()

std::size_t dart::optimizer::GenericMultiObjectiveProblem::getNumEqualityConstraintFunctions ( ) const

Returns number of equality constraints.

◆ getNumIneqConstraintFunctions()

std::size_t dart::optimizer::GenericMultiObjectiveProblem::getNumIneqConstraintFunctions ( ) const

Returns number of inequality constraints.

◆ getNumObjectiveFunctions()

std::size_t dart::optimizer::GenericMultiObjectiveProblem::getNumObjectiveFunctions ( ) const

Returns the number objective functions.

◆ getObjectiveDimension()

std::size_t dart::optimizer::GenericMultiObjectiveProblem::getObjectiveDimension ( ) const

overridevirtual

Returns the total dimension of objective functions.

Implements dart::optimizer::MultiObjectiveProblem.

◆ getObjectiveFunctions()

const std::vector< FunctionPtr > & dart::optimizer::GenericMultiObjectiveProblem::getObjectiveFunctions ( ) const

Returns objective functions.

◆ getSolutionDimension()

std::size_t dart::optimizer::MultiObjectiveProblem::getSolutionDimension ( ) const

virtualinherited

Returns dimension of the solution.

◆ getUpperBounds()

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

inherited

Returns upper bounds for optimization parameters.

◆ print()

std::ostream & dart::optimizer::MultiObjectiveProblem::print ( std::ostream & os ) const

virtualinherited

Prints information of this class to a stream.

◆ removeAllEqConstraintFunctions()

void dart::optimizer::GenericMultiObjectiveProblem::removeAllEqConstraintFunctions ( )

Removes all equality constraints.

◆ removeAllIneqConstraintFunctions()

void dart::optimizer::GenericMultiObjectiveProblem::removeAllIneqConstraintFunctions ( )

Removes all inequality constraints.

◆ removeAllObjectiveFunctions()

void dart::optimizer::GenericMultiObjectiveProblem::removeAllObjectiveFunctions ( )

Removes all objective functions.

◆ removeEqConstraintFunction()

void dart::optimizer::GenericMultiObjectiveProblem::removeEqConstraintFunction ( FunctionPtr eqConst )

Removes equality constraint.

◆ removeIneqConstraintFunction()

void dart::optimizer::GenericMultiObjectiveProblem::removeIneqConstraintFunction ( FunctionPtr ineqConst )

Removes inequality constraint.

◆ removeObjectiveFunction()

void dart::optimizer::GenericMultiObjectiveProblem::removeObjectiveFunction ( FunctionPtr function )

Removes an objective function.

◆ setIntegerDimension()

void dart::optimizer::MultiObjectiveProblem::setIntegerDimension ( std::size_t dim )

virtualinherited

Sets dimension of the integers in the decision vector.

◆ setLowerBounds()

void dart::optimizer::MultiObjectiveProblem::setLowerBounds ( const Eigen::VectorXd & lb )

inherited

Sets lower bounds for optimization parameters.

◆ setObjectiveFunctions()

void dart::optimizer::GenericMultiObjectiveProblem::setObjectiveFunctions ( const std::vector< FunctionPtr > & objectives )

Sets objective functions to be minimized.

◆ setSolutionDimension()

void dart::optimizer::MultiObjectiveProblem::setSolutionDimension	(	std::size_t	dim,
		std::size_t	integerDim = `0u`
	)

virtualinherited

Sets the dimension of the solution.

The element type of the solution can be either double or int. In the case that the solution partially contains integers, we assume the integer part takes place the tail of the solution, and the size of the integer part is integerDim. For example, a solution vector can be [floating1, floating2, ..., int1, int2].

Note that the dim represents the whole dimension of the solution so that the dimension of floating-point part is to be (dim - integerDim).

By default, we assume the solution is homogeneously floating-point type ( i.e., integerDim is zero).

Parameters

[in]	dim	Total dimension of the solution.
[in]	integerDim	The dimension of integer part in the solution.

◆ setUpperBounds()

void dart::optimizer::MultiObjectiveProblem::setUpperBounds ( const Eigen::VectorXd & ub )

inherited

Sets upper bounds for optimization parameters.

Member Data Documentation

◆ mDimension

std::size_t dart::optimizer::MultiObjectiveProblem::mDimension

protectedinherited

Dimension of the decision vector (or optimization parameters)

◆ mEqConstraintDimension

std::size_t dart::optimizer::GenericMultiObjectiveProblem::mEqConstraintDimension

private

Cache for equality constraint dimension.

◆ mEqConstraintFunctions

std::vector<FunctionPtr> dart::optimizer::GenericMultiObjectiveProblem::mEqConstraintFunctions

protected

Equality constraint functions.

◆ mIneqConstraintDimension

std::size_t dart::optimizer::GenericMultiObjectiveProblem::mIneqConstraintDimension

private

Cache for inequality constraint dimension.

◆ mIneqConstraintFunctions

std::vector<FunctionPtr> dart::optimizer::GenericMultiObjectiveProblem::mIneqConstraintFunctions

protected

Inequality constraint functions.

◆ mIntegerDimension

std::size_t dart::optimizer::MultiObjectiveProblem::mIntegerDimension

protectedinherited

Dimension of integer in the decision vector.

The integers are placed in the tail of the decision vector.

◆ mLowerBounds

Eigen::VectorXd dart::optimizer::MultiObjectiveProblem::mLowerBounds

protectedinherited

Lower bounds for optimization parameters.

◆ mObjectiveDimension

std::size_t dart::optimizer::GenericMultiObjectiveProblem::mObjectiveDimension

private

Cache for objective dimension.

◆ mObjectiveFunctions

std::vector<FunctionPtr> dart::optimizer::GenericMultiObjectiveProblem::mObjectiveFunctions

protected

Objective functions.

◆ mUpperBounds

Eigen::VectorXd dart::optimizer::MultiObjectiveProblem::mUpperBounds

protectedinherited

Upper bounds for optimization parameters.

Public Member Functions

Protected Attributes

Private Attributes

Constructor & Destructor Documentation

◆ GenericMultiObjectiveProblem()

◆ ~GenericMultiObjectiveProblem()

Member Function Documentation

◆ addEqConstraintFunction()

◆ addIneqConstraintFunction()

◆ addObjectiveFunction()

◆ evaluateEqConstraints()

◆ evaluateFitness()

◆ evaluateIneqConstraints()

◆ evaluateObjectives()

◆ getDoubleDimension()

◆ getEqConstraintDimension()

◆ getEqConstraintFunction()

◆ getFitnessDimension()

◆ getIneqConstraintDimension()

◆ getIneqConstraintFunction()

◆ getIntegerDimension()

◆ getLowerBounds()

◆ getNumEqualityConstraintFunctions()

◆ getNumIneqConstraintFunctions()

◆ getNumObjectiveFunctions()

◆ getObjectiveDimension()

◆ getObjectiveFunctions()

◆ getSolutionDimension()

◆ getUpperBounds()

◆ print()

◆ removeAllEqConstraintFunctions()

◆ removeAllIneqConstraintFunctions()

◆ removeAllObjectiveFunctions()

◆ removeEqConstraintFunction()

◆ removeIneqConstraintFunction()

◆ removeObjectiveFunction()

◆ setIntegerDimension()

◆ setLowerBounds()

◆ setObjectiveFunctions()

◆ setSolutionDimension()

◆ setUpperBounds()

Member Data Documentation

◆ mDimension

◆ mEqConstraintDimension

◆ mEqConstraintFunctions

◆ mIneqConstraintDimension

◆ mIneqConstraintFunctions

◆ mIntegerDimension

◆ mLowerBounds

◆ mObjectiveDimension

◆ mObjectiveFunctions

◆ mUpperBounds