dart::optimizer::Problem Class Reference

class Problem More...

#include <Problem.hpp>

Public Member Functions
	Problem (std::size_t _dim=0)
	Constructor.
virtual	~Problem ()=default
	Destructor.
void	setDimension (std::size_t _dim)
	Set dimension.
std::size_t	getDimension () const
	Get dimension.
void	setInitialGuess (const Eigen::VectorXd &_initGuess)
	Set initial guess for opimization parameters.
const Eigen::VectorXd &	getInitialGuess () const
	Set initial guess for opimization parameters.
void	addSeed (const Eigen::VectorXd &_seed)
	Add a seed for the Solver to use as a hint for the neighborhood of the solution.
Eigen::VectorXd &	getSeed (std::size_t _index)
	Get a mutable reference of the seed for the specified index.
const Eigen::VectorXd &	getSeed (std::size_t _index) const
	An immutable version of getSeed(std::size_t)
std::vector< Eigen::VectorXd > &	getSeeds ()
	Get a mutable reference to the full vector of seeds that this Problem currently contains.
const std::vector< Eigen::VectorXd > &	getSeeds () const
	An immutable version of getSeeds()
void	clearAllSeeds ()
	Clear the seeds that this Problem currently contains.
void	setLowerBounds (const Eigen::VectorXd &_lb)
	Set lower bounds for optimization parameters.
const Eigen::VectorXd &	getLowerBounds () const
	Get lower bounds for optimization parameters.
void	setUpperBounds (const Eigen::VectorXd &_ub)
	Set upper bounds for optimization parameters.
const Eigen::VectorXd &	getUpperBounds () const
	Get upper bounds for optimization parameters.
void	setObjective (FunctionPtr _obj)
	Set minimum objective function.
FunctionPtr	getObjective () const
	Get objective function.
void	addEqConstraint (FunctionPtr _eqConst)
	Add equality constraint.
void	addIneqConstraint (FunctionPtr _ineqConst)
	Add inequality constraint.
std::size_t	getNumEqConstraints () const
	Get number of equality constraints.
std::size_t	getNumIneqConstraints () const
	Get number of inequality constraints.
FunctionPtr	getEqConstraint (std::size_t _idx) const
	Get equality constraint.
FunctionPtr	getIneqConstraint (std::size_t _idx) const
	Get inequality constraint.
void	removeEqConstraint (FunctionPtr _eqConst)
	Remove equality constraint.
void	removeIneqConstraint (FunctionPtr _ineqConst)
	Remove inequality constraint.
void	removeAllEqConstraints ()
	Remove all equality constraints.
void	removeAllIneqConstraints ()
	Remove all inequality constraints.
void	setOptimumValue (double _val)
	Set optimum value of the objective function.
double	getOptimumValue () const
	Get optimum value of the objective function.
void	setOptimalSolution (const Eigen::VectorXd &_optParam)
	Set optimal solution. This function called by Solver.
const Eigen::VectorXd &	getOptimalSolution ()
	Get optimal solution.

Protected Attributes
std::size_t	mDimension
	Dimension of this problem.
Eigen::VectorXd	mInitialGuess
	Initial guess for optimization parameters.
std::vector< Eigen::VectorXd >	mSeeds
	Additional guess hints for the Solver.
Eigen::VectorXd	mLowerBounds
	Lower bounds for optimization parameters.
Eigen::VectorXd	mUpperBounds
	Upper bounds for optimization parameters.
FunctionPtr	mObjective
	Objective function.
std::vector< FunctionPtr >	mEqConstraints
	Equality constraint functions.
std::vector< FunctionPtr >	mIneqConstraints
	Inequality constraint functions.
double	mOptimumValue
	Optimal objective value.
Eigen::VectorXd	mOptimalSolution
	Optimal solution.

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.