DefaultSolver is a Solver extension which is native to DART (rather than relying on third-party libraries). More...

#include <GradientDescentSolver.hpp>

Inheritance diagram for dart::optimizer::GradientDescentSolver:

Classes
struct	Properties

struct	UniqueProperties

Public Member Functions
	GradientDescentSolver (const Properties &_properties=Properties())
	Default constructor. More...

	GradientDescentSolver (std::shared_ptr< Problem > _problem)
	Alternative constructor. More...

virtual	~GradientDescentSolver ()
	Destructor. More...

bool	solve () override
	Solve optimization problem. More...

Eigen::VectorXd	getLastConfiguration () const
	Get the last configuration that was used by the Solver. More...

std::string	getType () const override
	Get the type (implementation) of this Solver. More...

std::shared_ptr< Solver >	clone () const override
	Create an identical clone of this Solver. More...

void	setProperties (const Properties &_properties)
	Set the Properties of this GradientDescentSolver. More...

void	setProperties (const UniqueProperties &_properties)
	Set the Properties of this GradientDescentSolver. More...

Properties	getGradientDescentProperties () const
	Get the Properties of this GradientDescentSolver. More...

void	copy (const GradientDescentSolver &_other)
	Copy the Properties of another GradientDescentSolver. More...

GradientDescentSolver &	operator= (const GradientDescentSolver &_other)
	Copy the Properties of another GradientDescentSolver. More...

void	setStepSize (double _newMultiplier)
	Set the multiplier for the step size. More...

double	getStepSize () const
	Get the multiplier for the step size. More...

void	setMaxAttempts (std::size_t _maxAttempts)
	Set the maximum number of solving attempts before quitting. More...

std::size_t	getMaxAttempts () const
	Get the maximum number of solving attempts. More...

void	setPerturbationStep (std::size_t _step)
	Set the number of steps that will be taken before applying a randomized perturbation. More...

std::size_t	getPerturbationStep () const
	Get UniqueProperties::mPerturbationStep. More...

void	setMaxPerturbationFactor (double _factor)
	Set UniqueProperties::mPerturbationFactor. More...

double	getMaxPerturbationFactor () const
	Get UniqueProperties::mPerturbationFactor. More...

void	setDefaultConstraintWeight (double _newDefault)
	Set UniqueProperties::mDefaultConstraintWeight. More...

double	getDefaultConstraintWeight () const
	Get UniqueProperties::mDefaultConstraintWeight. More...

Eigen::VectorXd &	getEqConstraintWeights ()
	Set UniqueProperties::mEqConstraintWeights. More...

const Eigen::VectorXd &	getEqConstraintWeights () const
	Get UniqueProperties::mEqConstraintWeights. More...

Eigen::VectorXd &	getIneqConstraintWeights ()
	Set UniqueProperties::mIneqConstraintWeights. More...

const Eigen::VectorXd &	getIneqConstraintWeights () const
	Get UniqueProperties::mIneqConstraintWeights. More...

void	randomizeConfiguration (Eigen::VectorXd &_x)
	Randomize the configuration based on this Solver's settings. More...

void	clampToBoundary (Eigen::VectorXd &_x)
	Clamp the configuration to the limits of the Problem. More...

std::size_t	getLastNumIterations () const
	Get the number of iterations used in the last attempt to solve the problem. More...

void	setProperties (const Properties &_properties)
	Set the generic Properties of this Solver. More...

const Properties &	getSolverProperties () const
	Get the generic Properties of this Solver. More...

void	copy (const Solver &_otherSolver)
	Copy the generic Properties of another Solver. More...

virtual void	setProblem (std::shared_ptr< Problem > _newProblem)
	Set the nonlinear optimization problem. More...

std::shared_ptr< Problem >	getProblem () const
	Get nonlinear optimization problem. More...

virtual void	setTolerance (double _newTolerance)
	Set the maximum step size allowed for the Problem to be considered converged. More...

double	getTolerance () const
	Get the maximum step size allowed for the Problem to be considered converged. More...

virtual void	setNumMaxIterations (std::size_t _newMax)
	Set the maximum number of iterations that the Solver should use. More...

std::size_t	getNumMaxIterations () const
	Get the maximum number of iterations that the Solver should use. More...

virtual void	setIterationsPerPrint (std::size_t _newRatio)
	Set the number of iterations that should pass between printing progress to the terminal. More...

std::size_t	getIterationsPerPrint () const
	Get the number of iterations that should pass between printing progress to the terminal. More...

virtual void	setOutStream (std::ostream *_os)
	Set the output stream that prints the Solver's progress. More...

std::ostream *	getOutStream () const
	Get the output stream that prints the Solver's progress. More...

virtual void	setPrintFinalResult (bool _print)
	Set to true if the final result should be printed to the terminal. More...

bool	getPrintFinalResult () const
	Returns true if the final result should be printed to the terminal. More...

virtual void	setResultFileName (const std::string &_resultFile)
	Set the name of the file that results should be printed to. More...

const std::string &	getResultFileName () const
	Get the name of the file that results should be printed to. More...

Static Public Attributes
static const std::string	Type = "GradientDescentSolver"

Protected Attributes
UniqueProperties	mGradientP
	GradientDescentSolver properties. More...

std::size_t	mLastNumIterations
	The last number of iterations performed by this Solver. More...

std::random_device	mRD
	Randomization device. More...

std::mt19937	mMT
	Mersenne twister method. More...

std::uniform_real_distribution< double >	mDistribution
	Distribution. More...

Eigen::VectorXd	mEqConstraintCostCache
	Cache to track the costs of equality constraints. More...

Eigen::VectorXd	mIneqConstraintCostCache
	Cache to track the costs of inequality constraints. More...

Eigen::VectorXd	mLastConfig
	The last config reached by this Solver. More...

Properties	mProperties

Detailed Description

DefaultSolver is a Solver extension which is native to DART (rather than relying on third-party libraries).

It uses randomized gradient descent and softened constraints (i.e. constraint functions are added into the objective function and assigned weights) to solve nonlinear problems. Note that this is not a good option for Problems with difficult constraint functions that need to be solved exactly.

Constructor & Destructor Documentation

◆ GradientDescentSolver() [1/2]

dart::optimizer::GradientDescentSolver::GradientDescentSolver ( const Properties & _properties = Properties() )

explicit

Default constructor.

◆ GradientDescentSolver() [2/2]

dart::optimizer::GradientDescentSolver::GradientDescentSolver ( std::shared_ptr< Problem > _problem )

explicit

Alternative constructor.

◆ ~GradientDescentSolver()

dart::optimizer::GradientDescentSolver::~GradientDescentSolver ( )

virtual

Destructor.

Member Function Documentation

◆ clampToBoundary()

void dart::optimizer::GradientDescentSolver::clampToBoundary ( Eigen::VectorXd & _x )

Clamp the configuration to the limits of the Problem.

◆ clone()

std::shared_ptr< Solver > dart::optimizer::GradientDescentSolver::clone ( ) const

overridevirtual

Create an identical clone of this Solver.

Implements dart::optimizer::Solver.

◆ copy() [1/2]

void dart::optimizer::GradientDescentSolver::copy ( const GradientDescentSolver & _other )

Copy the Properties of another GradientDescentSolver.

◆ copy() [2/2]

void dart::optimizer::Solver::copy ( const Solver & _otherSolver )

inherited

Copy the generic Properties of another Solver.

◆ getDefaultConstraintWeight()

double dart::optimizer::GradientDescentSolver::getDefaultConstraintWeight ( ) const

Get UniqueProperties::mDefaultConstraintWeight.

◆ getEqConstraintWeights() [1/2]

Eigen::VectorXd & dart::optimizer::GradientDescentSolver::getEqConstraintWeights ( )

Set UniqueProperties::mEqConstraintWeights.

◆ getEqConstraintWeights() [2/2]

const Eigen::VectorXd & dart::optimizer::GradientDescentSolver::getEqConstraintWeights ( ) const

Get UniqueProperties::mEqConstraintWeights.

◆ getGradientDescentProperties()

GradientDescentSolver::Properties dart::optimizer::GradientDescentSolver::getGradientDescentProperties ( ) const

Get the Properties of this GradientDescentSolver.

◆ getIneqConstraintWeights() [1/2]

Eigen::VectorXd & dart::optimizer::GradientDescentSolver::getIneqConstraintWeights ( )

Set UniqueProperties::mIneqConstraintWeights.

◆ getIneqConstraintWeights() [2/2]

const Eigen::VectorXd & dart::optimizer::GradientDescentSolver::getIneqConstraintWeights ( ) const

Get UniqueProperties::mIneqConstraintWeights.

◆ getIterationsPerPrint()

std::size_t dart::optimizer::Solver::getIterationsPerPrint ( ) const

inherited

Get the number of iterations that should pass between printing progress to the terminal.

A value of 0 means there will be no printing.

◆ getLastConfiguration()

Eigen::VectorXd dart::optimizer::GradientDescentSolver::getLastConfiguration ( ) const

Get the last configuration that was used by the Solver.

◆ getLastNumIterations()

std::size_t dart::optimizer::GradientDescentSolver::getLastNumIterations ( ) const

Get the number of iterations used in the last attempt to solve the problem.

◆ getMaxAttempts()

std::size_t dart::optimizer::GradientDescentSolver::getMaxAttempts ( ) const

Get the maximum number of solving attempts.

◆ getMaxPerturbationFactor()

double dart::optimizer::GradientDescentSolver::getMaxPerturbationFactor ( ) const

Get UniqueProperties::mPerturbationFactor.

◆ getNumMaxIterations()

std::size_t dart::optimizer::Solver::getNumMaxIterations ( ) const

inherited

Get the maximum number of iterations that the Solver should use.

◆ getOutStream()

std::ostream * dart::optimizer::Solver::getOutStream ( ) const

inherited

Get the output stream that prints the Solver's progress.

◆ getPerturbationStep()

std::size_t dart::optimizer::GradientDescentSolver::getPerturbationStep ( ) const

Get UniqueProperties::mPerturbationStep.

◆ getPrintFinalResult()

bool dart::optimizer::Solver::getPrintFinalResult ( ) const

inherited

Returns true if the final result should be printed to the terminal.

◆ getProblem()

std::shared_ptr< Problem > dart::optimizer::Solver::getProblem ( ) const

inherited

Get nonlinear optimization problem.

◆ getResultFileName()

const std::string & dart::optimizer::Solver::getResultFileName ( ) const

inherited

Get the name of the file that results should be printed to.

An empty string indicates that results should not be printed to a file.

◆ getSolverProperties()

const Solver::Properties & dart::optimizer::Solver::getSolverProperties ( ) const

inherited

Get the generic Properties of this Solver.

◆ getStepSize()

double dart::optimizer::GradientDescentSolver::getStepSize ( ) const

Get the multiplier for the step size.

◆ getTolerance()

double dart::optimizer::Solver::getTolerance ( ) const

inherited

Get the maximum step size allowed for the Problem to be considered converged.

◆ getType()

std::string dart::optimizer::GradientDescentSolver::getType ( ) const

overridevirtual

Get the type (implementation) of this Solver.

Implements dart::optimizer::Solver.

◆ operator=()

GradientDescentSolver & dart::optimizer::GradientDescentSolver::operator= ( const GradientDescentSolver & _other )

Copy the Properties of another GradientDescentSolver.

◆ randomizeConfiguration()

void dart::optimizer::GradientDescentSolver::randomizeConfiguration ( Eigen::VectorXd & _x )

Randomize the configuration based on this Solver's settings.

◆ setDefaultConstraintWeight()

void dart::optimizer::GradientDescentSolver::setDefaultConstraintWeight ( double _newDefault )

Set UniqueProperties::mDefaultConstraintWeight.

◆ setIterationsPerPrint()

void dart::optimizer::Solver::setIterationsPerPrint ( std::size_t _newRatio )

virtualinherited

Set the number of iterations that should pass between printing progress to the terminal.

Use 0 for no printing.

◆ setMaxAttempts()

void dart::optimizer::GradientDescentSolver::setMaxAttempts ( std::size_t _maxAttempts )

Set the maximum number of solving attempts before quitting.

Each attempt will use getNumMaxIterations() steps. When a new attempt is started, it will use the next seed in the list of seeds. If we've reached the end of the list of seeds, the attempt will start from a randomized configuration.

◆ setMaxPerturbationFactor()

void dart::optimizer::GradientDescentSolver::setMaxPerturbationFactor ( double _factor )

Set UniqueProperties::mPerturbationFactor.

◆ setNumMaxIterations()

void dart::optimizer::Solver::setNumMaxIterations ( std::size_t _newMax )

virtualinherited

Set the maximum number of iterations that the Solver should use.

◆ setOutStream()

void dart::optimizer::Solver::setOutStream ( std::ostream * _os )

virtualinherited

Set the output stream that prints the Solver's progress.

◆ setPerturbationStep()

void dart::optimizer::GradientDescentSolver::setPerturbationStep ( std::size_t _step )

Set the number of steps that will be taken before applying a randomized perturbation.

◆ setPrintFinalResult()

void dart::optimizer::Solver::setPrintFinalResult ( bool _print )

virtualinherited

Set to true if the final result should be printed to the terminal.

◆ setProblem()

void dart::optimizer::Solver::setProblem ( std::shared_ptr< Problem > _newProblem )

virtualinherited

Set the nonlinear optimization problem.

◆ setProperties() [1/3]

void dart::optimizer::GradientDescentSolver::setProperties ( const Properties & _properties )

Set the Properties of this GradientDescentSolver.

◆ setProperties() [2/3]

void dart::optimizer::Solver::setProperties ( const Properties & _properties )

inherited

Set the generic Properties of this Solver.

◆ setProperties() [3/3]

void dart::optimizer::GradientDescentSolver::setProperties ( const UniqueProperties & _properties )

Set the Properties of this GradientDescentSolver.

◆ setResultFileName()

void dart::optimizer::Solver::setResultFileName ( const std::string & _resultFile )

virtualinherited

Set the name of the file that results should be printed to.

Use an empty string to indicate that results should not be printed to a file.

◆ setStepSize()

void dart::optimizer::GradientDescentSolver::setStepSize ( double _newMultiplier )

Set the multiplier for the step size.

◆ setTolerance()

void dart::optimizer::Solver::setTolerance ( double _newTolerance )

virtualinherited

Set the maximum step size allowed for the Problem to be considered converged.

◆ solve()

bool dart::optimizer::GradientDescentSolver::solve ( )

overridevirtual

Solve optimization problem.

Implements dart::optimizer::Solver.

Member Data Documentation

◆ mDistribution

std::uniform_real_distribution<double> dart::optimizer::GradientDescentSolver::mDistribution

protected

Distribution.

◆ mEqConstraintCostCache

Eigen::VectorXd dart::optimizer::GradientDescentSolver::mEqConstraintCostCache

protected

Cache to track the costs of equality constraints.

◆ mGradientP

UniqueProperties dart::optimizer::GradientDescentSolver::mGradientP

protected

GradientDescentSolver properties.

◆ mIneqConstraintCostCache

Eigen::VectorXd dart::optimizer::GradientDescentSolver::mIneqConstraintCostCache

protected

Cache to track the costs of inequality constraints.

◆ mLastConfig

Eigen::VectorXd dart::optimizer::GradientDescentSolver::mLastConfig

protected

The last config reached by this Solver.

◆ mLastNumIterations

std::size_t dart::optimizer::GradientDescentSolver::mLastNumIterations

protected

The last number of iterations performed by this Solver.

◆ mMT

std::mt19937 dart::optimizer::GradientDescentSolver::mMT

protected

Mersenne twister method.

◆ mProperties

Properties dart::optimizer::Solver::mProperties

protectedinherited

◆ mRD

std::random_device dart::optimizer::GradientDescentSolver::mRD

protected

Randomization device.

◆ Type

const std::string dart::optimizer::GradientDescentSolver::Type = "GradientDescentSolver"

static

Classes

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GradientDescentSolver() [1/2]

◆ GradientDescentSolver() [2/2]

◆ ~GradientDescentSolver()

Member Function Documentation

◆ clampToBoundary()

◆ clone()

◆ copy() [1/2]

◆ copy() [2/2]

◆ getDefaultConstraintWeight()

◆ getEqConstraintWeights() [1/2]

◆ getEqConstraintWeights() [2/2]

◆ getGradientDescentProperties()

◆ getIneqConstraintWeights() [1/2]

◆ getIneqConstraintWeights() [2/2]

◆ getIterationsPerPrint()

◆ getLastConfiguration()

◆ getLastNumIterations()

◆ getMaxAttempts()

◆ getMaxPerturbationFactor()

◆ getNumMaxIterations()

◆ getOutStream()

◆ getPerturbationStep()

◆ getPrintFinalResult()

◆ getProblem()

◆ getResultFileName()

◆ getSolverProperties()

◆ getStepSize()

◆ getTolerance()

◆ getType()

◆ operator=()

◆ randomizeConfiguration()

◆ setDefaultConstraintWeight()

◆ setIterationsPerPrint()

◆ setMaxAttempts()

◆ setMaxPerturbationFactor()

◆ setNumMaxIterations()

◆ setOutStream()

◆ setPerturbationStep()

◆ setPrintFinalResult()

◆ setProblem()

◆ setProperties() [1/3]

◆ setProperties() [2/3]

◆ setProperties() [3/3]

◆ setResultFileName()

◆ setStepSize()

◆ setTolerance()

◆ solve()

Member Data Documentation

◆ mDistribution

◆ mEqConstraintCostCache

◆ mGradientP

◆ mIneqConstraintCostCache

◆ mLastConfig

◆ mLastNumIterations

◆ mMT

◆ mProperties

◆ mRD

◆ Type