dart::dynamics::HierarchicalIK::Objective Class Reference

The HierarchicalIK::Objective Function is simply used to merge the objective and null space objective functions that are being held by this HierarchicalIK module. More...

#include <HierarchicalIK.hpp>

Inheritance diagram for dart::dynamics::HierarchicalIK::Objective:

Public Member Functions
	Objective (const std::shared_ptr< HierarchicalIK > &_ik)
	Constructor. More...
virtual	~Objective ()=default
	Virtual destructor. More...
optimizer::FunctionPtr	clone (const std::shared_ptr< HierarchicalIK > &_newIK) const override
	Enable this function to be cloned to a new IK module. More...
double	eval (const Eigen::VectorXd &_x) override
	Evaluate and return the objective function at the point x. More...
void	evalGradient (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd > _grad) override
	Evaluate and return the objective function at the point x. More...
virtual void	setName (const std::string &_newName)
	Set the name of this Function. More...
const std::string &	getName () const
	Get the name of this Function. More...
void	evalGradient (const Eigen::VectorXd &_x, Eigen::VectorXd &_grad)
	Evaluate and return the objective function at the point x. More...
virtual void	evalHessian (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor > _Hess)
	Evaluate and return the objective function at the point x. More...

Protected Attributes
std::weak_ptr< HierarchicalIK >	mIK
	Pointer to this Objective's HierarchicalIK module. More...
Eigen::VectorXd	mGradCache
	Cache for the gradient computation. More...
std::string	mName
	Name of this function. More...

Detailed Description

The HierarchicalIK::Objective Function is simply used to merge the objective and null space objective functions that are being held by this HierarchicalIK module.

This class is not meant to be extended or instantiated by a user. Call HierarchicalIK::resetProblem() to set the objective of the module's Problem to an HierarchicalIK::Objective.

Constructor & Destructor Documentation

Objective()

dart::dynamics::HierarchicalIK::Objective::Objective

(

const std::shared_ptr< HierarchicalIK > &

_ik

)

Constructor.

~Objective()

virtual dart::dynamics::HierarchicalIK::Objective::~Objective ( )

virtualdefault

Virtual destructor.

Member Function Documentation

clone()

optimizer::FunctionPtr dart::dynamics::HierarchicalIK::Objective::clone ( const std::shared_ptr< HierarchicalIK > &  _newIK ) const

overridevirtual

Enable this function to be cloned to a new IK module.

Implements dart::dynamics::HierarchicalIK::Function.

eval()

double dart::dynamics::HierarchicalIK::Objective::eval ( const Eigen::VectorXd &  _x )

overridevirtual

Evaluate and return the objective function at the point x.

Implements dart::optimizer::Function.

evalGradient() [1/2]

void dart::dynamics::HierarchicalIK::Objective::evalGradient ( const Eigen::VectorXd &  _x, Eigen::Map< Eigen::VectorXd >  _grad  )

overridevirtual

Evaluate and return the objective function at the point x.

Reimplemented from dart::optimizer::Function.

evalGradient() [2/2]

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

inherited

Evaluate 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  )

virtualinherited

Evaluate 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

inherited

Get the name of this Function.

setName()

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

virtualinherited

Set the name of this Function.

Member Data Documentation

mGradCache

Eigen::VectorXd dart::dynamics::HierarchicalIK::Objective::mGradCache

protected

Cache for the gradient computation.

mIK

std::weak_ptr<HierarchicalIK> dart::dynamics::HierarchicalIK::Objective::mIK

protected

Pointer to this Objective's HierarchicalIK module.

mName

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

protectedinherited

Name of this function.