DART  6.7.3
Problem.hpp
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32 
33 #ifndef DART_OPTIMIZER_PROBLEM_HPP_
34 #define DART_OPTIMIZER_PROBLEM_HPP_
35 
36 #include <cstddef>
37 #include <vector>
38 
39 #include <Eigen/Dense>
40 
42 
43 namespace dart {
44 namespace optimizer {
45 
47 class Problem
48 {
49 public:
50 
52  explicit Problem(std::size_t _dim = 0);
53 
55  virtual ~Problem() = default;
56 
57  //--------------------------- Problem Setting --------------------------------
60  void setDimension(std::size_t _dim);
61 
63  std::size_t getDimension() const;
64 
66  void setInitialGuess(const Eigen::VectorXd& _initGuess);
67 
69  const Eigen::VectorXd& getInitialGuess() const;
70 
73  void addSeed(const Eigen::VectorXd& _seed);
74 
78  Eigen::VectorXd& getSeed(std::size_t _index);
79 
81  const Eigen::VectorXd& getSeed(std::size_t _index) const;
82 
85  std::vector<Eigen::VectorXd>& getSeeds();
86 
88  const std::vector<Eigen::VectorXd>& getSeeds() const;
89 
91  void clearAllSeeds();
92 
94  void setLowerBounds(const Eigen::VectorXd& _lb);
95 
97  const Eigen::VectorXd& getLowerBounds() const;
98 
100  void setUpperBounds(const Eigen::VectorXd& _ub);
101 
103  const Eigen::VectorXd& getUpperBounds() const;
104 
106  void setObjective(FunctionPtr _obj);
107 
109  FunctionPtr getObjective() const;
110 
112  void addEqConstraint(FunctionPtr _eqConst);
113 
116  void addIneqConstraint(FunctionPtr _ineqConst);
117 
119  std::size_t getNumEqConstraints() const;
120 
122  std::size_t getNumIneqConstraints() const;
123 
125  FunctionPtr getEqConstraint(std::size_t _idx) const;
126 
128  FunctionPtr getIneqConstraint(std::size_t _idx) const;
129 
131  void removeEqConstraint(FunctionPtr _eqConst);
132 
134  void removeIneqConstraint(FunctionPtr _ineqConst);
135 
137  void removeAllEqConstraints();
138 
141 
142  //------------------------------ Result --------------------------------------
145  void setOptimumValue(double _val);
146 
148  double getOptimumValue() const;
149 
151  void setOptimalSolution(const Eigen::VectorXd& _optParam);
152 
154  const Eigen::VectorXd& getOptimalSolution();
155 
156 protected:
158  std::size_t mDimension;
159 
161  Eigen::VectorXd mInitialGuess;
162 
164  std::vector<Eigen::VectorXd> mSeeds;
165 
167  Eigen::VectorXd mLowerBounds;
168 
170  Eigen::VectorXd mUpperBounds;
171 
174 
176  std::vector<FunctionPtr> mEqConstraints;
177 
179  std::vector<FunctionPtr> mIneqConstraints;
180 
183 
185  Eigen::VectorXd mOptimalSolution;
186 };
187 
188 } // namespace optimizer
189 } // namespace dart
190 
191 #endif // #ifndef DART_OPTIMIZER_PROBLEM_HPP_
192 
class Problem
Definition: Problem.hpp:48
void addIneqConstraint(FunctionPtr _ineqConst)
Add inequality constraint.
Definition: Problem.cpp:218
Eigen::VectorXd mInitialGuess
Initial guess for optimization parameters.
Definition: Problem.hpp:161
void setLowerBounds(const Eigen::VectorXd &_lb)
Set lower bounds for optimization parameters.
Definition: Problem.cpp:172
void setOptimalSolution(const Eigen::VectorXd &_optParam)
Set optimal solution. This function called by Solver.
Definition: Problem.cpp:297
std::size_t getNumIneqConstraints() const
Get number of inequality constraints.
Definition: Problem.cpp:231
FunctionPtr getObjective() const
Get objective function.
Definition: Problem.cpp:205
Problem(std::size_t _dim=0)
Constructor.
Definition: Problem.cpp:57
void removeAllEqConstraints()
Remove all equality constraints.
Definition: Problem.cpp:271
double mOptimumValue
Optimal objective value.
Definition: Problem.hpp:182
double getOptimumValue() const
Get optimum value of the objective function.
Definition: Problem.cpp:291
void setUpperBounds(const Eigen::VectorXd &_ub)
Set upper bounds for optimization parameters.
Definition: Problem.cpp:185
virtual ~Problem()=default
Destructor.
FunctionPtr getEqConstraint(std::size_t _idx) const
Get equality constraint.
Definition: Problem.cpp:237
std::size_t mDimension
Dimension of this problem.
Definition: Problem.hpp:158
Eigen::VectorXd mOptimalSolution
Optimal solution.
Definition: Problem.hpp:185
void setDimension(std::size_t _dim)
Set dimension.
Definition: Problem.cpp:65
std::vector< FunctionPtr > mEqConstraints
Equality constraint functions.
Definition: Problem.hpp:176
void addEqConstraint(FunctionPtr _eqConst)
Add equality constraint.
Definition: Problem.cpp:211
void removeEqConstraint(FunctionPtr _eqConst)
Remove equality constraint.
Definition: Problem.cpp:251
Eigen::VectorXd mLowerBounds
Lower bounds for optimization parameters.
Definition: Problem.hpp:167
std::size_t getDimension() const
Get dimension.
Definition: Problem.cpp:85
std::vector< Eigen::VectorXd > mSeeds
Additional guess hints for the Solver.
Definition: Problem.hpp:164
Eigen::VectorXd mUpperBounds
Upper bounds for optimization parameters.
Definition: Problem.hpp:170
Eigen::VectorXd & getSeed(std::size_t _index)
Get a mutable reference of the seed for the specified index.
Definition: Problem.cpp:130
void removeAllIneqConstraints()
Remove all inequality constraints.
Definition: Problem.cpp:278
const Eigen::VectorXd & getOptimalSolution()
Get optimal solution.
Definition: Problem.cpp:305
void addSeed(const Eigen::VectorXd &_seed)
Add a seed for the Solver to use as a hint for the neighborhood of the solution.
Definition: Problem.cpp:115
void clearAllSeeds()
Clear the seeds that this Problem currently contains.
Definition: Problem.cpp:166
const Eigen::VectorXd & getInitialGuess() const
Set initial guess for opimization parameters.
Definition: Problem.cpp:109
std::size_t getNumEqConstraints() const
Get number of equality constraints.
Definition: Problem.cpp:225
const Eigen::VectorXd & getUpperBounds() const
Get upper bounds for optimization parameters.
Definition: Problem.cpp:192
FunctionPtr getIneqConstraint(std::size_t _idx) const
Get inequality constraint.
Definition: Problem.cpp:244
void setInitialGuess(const Eigen::VectorXd &_initGuess)
Set initial guess for opimization parameters.
Definition: Problem.cpp:91
std::vector< Eigen::VectorXd > & getSeeds()
Get a mutable reference to the full vector of seeds that this Problem currently contains.
Definition: Problem.cpp:154
void removeIneqConstraint(FunctionPtr _ineqConst)
Remove inequality constraint.
Definition: Problem.cpp:261
std::vector< FunctionPtr > mIneqConstraints
Inequality constraint functions.
Definition: Problem.hpp:179
const Eigen::VectorXd & getLowerBounds() const
Get lower bounds for optimization parameters.
Definition: Problem.cpp:179
void setObjective(FunctionPtr _obj)
Set minimum objective function.
Definition: Problem.cpp:198
void setOptimumValue(double _val)
Set optimum value of the objective function.
Definition: Problem.cpp:285
FunctionPtr mObjective
Objective function.
Definition: Problem.hpp:173
std::shared_ptr< Function > FunctionPtr
Definition: Function.hpp:84
Definition: BulletCollisionDetector.cpp:63