Function.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_OPTIMIZER_FUNCTION_HPP_
#define DART_OPTIMIZER_FUNCTION_HPP_
 
#include <vector>
#include <memory>
#include <functional>
 
#include <Eigen/Dense>
 
namespace dart {
namespace optimizer {
 
class Function
{
public:
  explicit Function(const std::string& _name = "function");
 
  virtual ~Function();
 
  virtual void setName(const std::string& newName);
 
  const std::string& getName() const;
 
  virtual double eval(const Eigen::VectorXd& x) = 0;
 
  virtual void evalGradient(const Eigen::VectorXd& _x,
                            Eigen::Map<Eigen::VectorXd> _grad);
 
  void evalGradient(const Eigen::VectorXd& _x, Eigen::VectorXd& _grad);
 
  virtual void evalHessian(
      const Eigen::VectorXd& _x,
      Eigen::Map<Eigen::VectorXd, Eigen::RowMajor> _Hess);
 
protected:
  std::string mName;
};
 
typedef std::shared_ptr<Function> FunctionPtr;
typedef std::unique_ptr<Function> UniqueFunctionPtr;
 
typedef std::function<double(const Eigen::VectorXd&)> CostFunction;
 
typedef std::function<void(const Eigen::VectorXd&,
                           Eigen::Map<Eigen::VectorXd>)> GradientFunction;
 
typedef std::function<void(
    const Eigen::VectorXd&,
    Eigen::Map<Eigen::VectorXd, Eigen::RowMajor>)> HessianFunction;
 
class ModularFunction : public Function
{
public:
  explicit ModularFunction(const std::string& _name = "modular_function");
 
  ~ModularFunction() override;
 
  double eval(const Eigen::VectorXd& _x) override;
 
  void evalGradient(const Eigen::VectorXd& _x,
                    Eigen::Map<Eigen::VectorXd> _grad) override;
 
  void evalHessian(
      const Eigen::VectorXd& _x,
      Eigen::Map<Eigen::VectorXd, Eigen::RowMajor> _Hess) override;
 
  void setCostFunction(CostFunction _cost);
 
  void clearCostFunction(bool _printWarning = true);
 
  void setGradientFunction(GradientFunction _gradient);
 
  void clearGradientFunction();
 
  void setHessianFunction(HessianFunction _hessian);
 
  void clearHessianFunction();
 
protected:
  CostFunction mCostFunction;
 
  GradientFunction mGradientFunction;
 
  HessianFunction mHessianFunction;
};
 
class NullFunction : public Function
{
public:
  explicit NullFunction(const std::string& _name = "null_function");
 
  ~NullFunction() override;
 
  double eval(const Eigen::VectorXd&) override;
 
  void evalGradient(const Eigen::VectorXd& _x,
                    Eigen::Map<Eigen::VectorXd> _grad) override;
 
  void evalHessian(
      const Eigen::VectorXd& _x,
      Eigen::Map<Eigen::VectorXd, Eigen::RowMajor> _Hess) override;
};
 
class MultiFunction
{
public:
  MultiFunction();
 
  virtual ~MultiFunction();
 
  virtual void operator()(const Eigen::VectorXd& _x,
                          Eigen::Map<Eigen::VectorXd>& _f,
                          Eigen::Map<Eigen::MatrixXd>& _grad) = 0;
};
 
}  // namespace optimizer
}  // namespace dart
 
#endif  // DART_OPTIMIZER_FUNCTION_HPP_