DiagonalLinearFunction class. More...

#include <DiagonalLinearFunction.h>

Inheritance diagram for ocra::DiagonalLinearFunction:

Collaboration diagram for ocra::DiagonalLinearFunction:

Public Types
typedef LinearFunction	functionType_t

Public Types inherited from ocra::LinearFunction
typedef Function	functionType_t

Public Member Functions
void	changeDiagonal (const VectorXd &d)

void	changeDiagonal (const double diagonalElementValue, const bool changeDefault=true)

void	changeDefaultDiagonalValue (const double v)

void	changeDefaultbValue (const double v)


template<class VectorBase1 , class VectorBase2 >
	DiagonalLinearFunction (Variable &x, const VectorBase1 &d, const VectorBase2 &b, const bool useDefaultValue=false, const double defaultDiagValue=1., const double defaultbValue=0.)

template<class VectorBase >
	DiagonalLinearFunction (Variable &x, const double diagonalElementValue, const VectorBase &b, const bool useDefaultValue=false, const double defaultbValue=0.)

template<class VectorBase >
	DiagonalLinearFunction (Variable &x, const VectorBase &d, const double vectorElementValue, const bool useDefaultValue=false, const double defaultDiagValue=1.)

	DiagonalLinearFunction (Variable &x, const double diagonalElementValue, const double vectorElementValue, const bool useDefaultValue=false)


const VectorXd &	getDiagonal () const

double	getDefaultDiagonalValue () const

double	getDefaultbValue () const

bool	isUsingDefaultValue () const

Public Member Functions inherited from ocra::LinearFunction
template<class Derived , class VectorBase >
	LinearFunction (Variable &x, const MatrixBase< Derived > &A, const VectorBase &b)

	~LinearFunction ()

void	invalidateb (int timestamp)

const MatrixXd &	getA () const

const VectorXd &	getb () const

void	changeA (const MatrixXd &A)

void	changeb (const VectorXd &b)

Public Member Functions inherited from ocra::Function
virtual	~Function ()

int	getDimension () const

virtual void	updateFdot () const

virtual void	updateFddot () const

virtual void	updateJdotXdot () const

const Variable &	getVariable () const

Variable &	getVariable ()

template<eFunctionAbility Ability>
void	invalidate ()

void	invalidateAll (int timestamp)

void	invalidateAll ()

template<eFunctionAbility Ability>
bool	isValid () const

template<eFunctionAbility Ability>
bool	canCompute () const

template<eFunctionAbility Ability>
const IFunction< Ability >::return_type &	get () const

template<eFunctionAbility Ability>
IFunction< Ability >::return_sub_type	get (int index) const

const VectorXd &	getValue () const

double	getValue (int index) const

const MatrixXd &	getJacobian () const

MatrixXdRow	getJacobian (int index) const

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::IFunctionProperties
bool	hasSeparableTimeDependancy (void) const

eFunctionLinearity	getType (void) const

eFunctionConvexity	getConvexityProperty (void) const

int	getContinuityProperty (void) const

const std::string &	getProperty (int i) const

int	getNumberOfProperties (void) const

bool	hasProperty (const std::string &functionProperty) const

bool	isExplicitlyTimeDependant (void) const

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Public Member Functions inherited from ocra::AbilitySet
AbilitySet &	add (eFunctionAbility prop)

AbilitySet &	remove (eFunctionAbility prop)

Protected Member Functions
	DiagonalLinearFunction (Variable &x)

virtual void	updateValue () const

virtual void	doUpdateInputSizeBegin ()

virtual void	doUpdateInputSizeEnd ()

virtual void	doChangeDiagonal (const VectorXd &d)

virtual void	doChangeDiagonal (const double diagonalElementValue, const bool changeDefault=true)

virtual void	doChangeDefaultDiagonalValue (const double v)

virtual void	doChangeDefaultbValue (const double v)

virtual void	doChangeA (const MatrixXd &A)

int	computeDimensionFromInputSize () const

void	doUpdateDimensionBegin (int newDimension)

Protected Member Functions inherited from ocra::LinearFunction
	LinearFunction (Variable &x, int dimension)

virtual void	updateb () const

virtual void	updateJacobian () const

virtual void	doChangeb (const VectorXd &b)

void	inhibitPropagationFromb () const

void	desinhibitPropagationFromb () const

Protected Member Functions inherited from ocra::Function
	Function (Variable &x, int dimension, eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	Function Constructor. More...

void	disconnectVariable ()

void	changeFunctionDimension (int newDimension)

void	updateInputSize (int timestamp)

void	resize ()

virtual void	doUpdateDimensionEnd (int oldDimension)

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::IFunctionProperties
	IFunctionProperties (eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	IFunctionProperties Constructor. More...

void	changeType (eFunctionLinearity newType)

void	changeConvexityProperty (eFunctionConvexity newProperty)

void	changeContinuityProperty (int newProperty)

void	addProperty (const std::string &functionProperty)

void	removeProperty (const std::string &functionProperty)

void	changeExplicitTimeDependancy (bool b)

void	changeSeparableTimeDependancy (bool b)

Protected Member Functions inherited from ocra::AbilitySet
	AbilitySet (const std::vector< bool > &usageSet)

const std::vector< bool > &	getUsageSet () const

	AbilitySet (eFunctionAbility prop0=FUN_VALUE, eFunctionAbility prop1=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3=FUN_VALUE, eFunctionAbility prop4=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3, eFunctionAbility prop4, eFunctionAbility prop5, eFunctionAbility prop6=FUN_VALUE, eFunctionAbility prop7=FUN_VALUE, eFunctionAbility prop8=FUN_VALUE, eFunctionAbility prop9=FUN_VALUE)

Protected Member Functions inherited from ocra::CoupledInputOutputSize
	CoupledInputOutputSize (bool coupledInputOutputSize)

bool	inputAndOutputSizesAreCoupled () const

Protected Attributes
VectorXd	_d

double	_defaultDiagonalValue

double	_defaultbValue

bool	_useDefaultValue

Protected Attributes inherited from ocra::LinearFunction
VectorXd	_b

bool	_bIsUpToDate

Protected Attributes inherited from ocra::Function
Variable &	x

VectorXd &	_value

MatrixXd &	_jacobian

const int &	_dim

Additional Inherited Members
Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

DiagonalLinearFunction class.

Warning: None

Implements a function of the type $ Dx+b $ with $ D=diag(d) $ a diagonal matrix whose diagonal is given by the vector $ d $ . It is possible to specify a default value for the new diagonal elements in case the size of the variable, and thus the dimension of the function, change. Note that the values of the last diagonal elements are lost when the dimension decreases. Thus going from dimension n to dimension n'<n then back to n will set the last n-n' diagonal elements to the default value.

Definition at line 40 of file DiagonalLinearFunction.h.

Member Typedef Documentation

typedef LinearFunction ocra::DiagonalLinearFunction::functionType_t

Definition at line 44 of file DiagonalLinearFunction.h.

Constructor & Destructor Documentation

template<class VectorBase1 , class VectorBase2 >

ocra::DiagonalLinearFunction::DiagonalLinearFunction	(	Variable &	x,
		const VectorBase1 &	d,
		const VectorBase2 &	b,
		const bool	useDefaultValue = `false`,
		const double	defaultDiagValue = `1.`,
		const double	defaultbValue = `0.`
	)

inline

A set of constructors where d and b are specified either by a vector or by a double.

Parameters

[in]	x	The variable on which to build the function.
[in]	d	The value of d.
[in]	b	The value of b.
[in]	diagonalElementValue	The value of each element of d.
[in]	vectorElementValue	The value of each element of b.
[in]	useDefaultValue	true if the function can use a default value when resizing to a bigger dimension. Note that if useDefaultValue is false, the function can still be downsized.
[in]	defaultDiagValue	The default value for the last value of d when resizing to a bigger dimension.
[in]	defaultbValue	The default value for the last value of b when resizing to a bigger dimension.

Warning: You need to put real double for diagonalElementValue and vectorElementValue. All other type will be considered as VectorBase and will trigger the static assertion on th VectorBase type. For example, DiagonalLinearFunction(x, 1, b), where x is a variable and b is a vector, is not valid. The correct way to write it is DiagonalLinearFunction(x, 1., b), because 1. is a double, but 1 is an int so the compiler will not try to cast it into a double and call the wrong constructor.

Definition at line 156 of file DiagonalLinearFunction.h.

template<class VectorBase >

ocra::DiagonalLinearFunction::DiagonalLinearFunction	(	Variable &	x,
		const double	diagonalElementValue,
		const VectorBase &	b,
		const bool	useDefaultValue = `false`,
		const double	defaultbValue = `0.`
	)

inline

Definition at line 183 of file DiagonalLinearFunction.h.

template<class VectorBase >

ocra::DiagonalLinearFunction::DiagonalLinearFunction	(	Variable &	x,
		const VectorBase &	d,
		const double	vectorElementValue,
		const bool	useDefaultValue = `false`,
		const double	defaultDiagValue = `1.`
	)

inline

Definition at line 205 of file DiagonalLinearFunction.h.

ocra::DiagonalLinearFunction::DiagonalLinearFunction	(	Variable &	x,
		const double	diagonalElementValue,
		const double	vectorElementValue,
		const bool	useDefaultValue = `false`
	)

Definition at line 7 of file DiagonalLinearFunction.cpp.

ocra::DiagonalLinearFunction::DiagonalLinearFunction ( Variable & x )

protected

A light constructor for derived class

Definition at line 25 of file DiagonalLinearFunction.cpp.

Member Function Documentation

void ocra::DiagonalLinearFunction::changeDefaultbValue ( const double v )

Set the default value for b to v. (To change b, a method is directly accessible on LinearFunction)

Definition at line 58 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::changeDefaultDiagonalValue ( const double v )

Change only the diagonal default value

Definition at line 52 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::changeDiagonal ( const VectorXd & d )

Set the diagonal to d

Precondition: d.size() == _dim Calls buildA which triggers a EVT_CHANGE_VALUE event.

Definition at line 37 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::changeDiagonal	(	const double	diagonalElementValue,
		const bool	changeDefault = `true`
	)

Set the diagonal to diagonalElementValue and the default diagonal value to the same value if changeDefault is true. Calls buildA which triggers a EVT_CHANGE_VALUE event.

Definition at line 45 of file DiagonalLinearFunction.cpp.

int ocra::DiagonalLinearFunction::computeDimensionFromInputSize ( ) const

protectedvirtual

Does what it tells...

Reimplemented from ocra::Function.

Definition at line 150 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doChangeA ( const MatrixXd & A )

protectedvirtual

Methods to be called in ChangeA and Change b

Reimplemented from ocra::LinearFunction.

Reimplemented in ocra::IdentityFunction.

Definition at line 91 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doChangeDefaultbValue ( const double v )

protectedvirtual

Reimplemented in ocra::BoundFunction, and ocra::IdentityFunction.

Definition at line 84 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doChangeDefaultDiagonalValue ( const double v )

protectedvirtual

Reimplemented in ocra::BoundFunction, and ocra::IdentityFunction.

Definition at line 78 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doChangeDiagonal ( const VectorXd & d )

protectedvirtual

Reimplemented in ocra::BoundFunction, and ocra::IdentityFunction.

Definition at line 64 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doChangeDiagonal	(	const double	diagonalElementValue,
		const bool	changeDefault = `true`
	)

protectedvirtual

Reimplemented in ocra::BoundFunction, and ocra::IdentityFunction.

Definition at line 70 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doUpdateDimensionBegin ( int newDimension )

protectedvirtual

Methods for pre and post update in case the dimension of the function has changed. Default implementation of doUpdateDimensionEnd does nothing, doUpdateDimensionBegin throws an exception. These methods might throw exceptions when overloaded. Furthermore, doUpdateDimensionEnd() must comply with the post condition of updateDimension(), i.e. let the values of each ability invalidated.

Reimplemented from ocra::Function.

Definition at line 155 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doUpdateInputSizeBegin ( )

protectedvirtual

Methods for pre and post update in case the variable size has changed. Default implementation of doUpdateInputSizeEnd does nothing, doUpdateInputSizeBegin throws an exception. These methods might throw exceptions when overloaded. Furthermore, doUpdateInputSizeEnd() must comply with the post condition of updateInputSize(), i.e. let the values of each ability invalidated.

Reimplemented from ocra::Function.

Reimplemented in ocra::IdentityFunction.

Definition at line 105 of file DiagonalLinearFunction.cpp.

void ocra::DiagonalLinearFunction::doUpdateInputSizeEnd ( void )

protectedvirtual

This methods ensures _b has the good size at the end of a resize, yet it will not be called in LinearFunction itself because the class does not overload doUpdateInputSizeBegin() which throws an runtime_error by default.

Reimplemented from ocra::LinearFunction.

Reimplemented in ocra::IdentityFunction.

Definition at line 136 of file DiagonalLinearFunction.cpp.

double ocra::DiagonalLinearFunction::getDefaultbValue ( ) const

inline

Definition at line 239 of file DiagonalLinearFunction.h.

double ocra::DiagonalLinearFunction::getDefaultDiagonalValue ( ) const

inline

Definition at line 233 of file DiagonalLinearFunction.h.

const VectorXd & ocra::DiagonalLinearFunction::getDiagonal ( ) const

inline

Trivial getters.

Definition at line 227 of file DiagonalLinearFunction.h.

bool ocra::DiagonalLinearFunction::isUsingDefaultValue ( ) const

inline

Definition at line 245 of file DiagonalLinearFunction.h.

void ocra::DiagonalLinearFunction::updateValue ( ) const

protectedvirtual

Overloads of the Function methods

Reimplemented from ocra::LinearFunction.

Reimplemented in ocra::IdentityFunction.

Definition at line 99 of file DiagonalLinearFunction.cpp.

Member Data Documentation

VectorXd ocra::DiagonalLinearFunction::_d

protected

Definition at line 148 of file DiagonalLinearFunction.h.

double ocra::DiagonalLinearFunction::_defaultbValue

protected

Definition at line 150 of file DiagonalLinearFunction.h.

double ocra::DiagonalLinearFunction::_defaultDiagonalValue

protected

Definition at line 149 of file DiagonalLinearFunction.h.

bool ocra::DiagonalLinearFunction::_useDefaultValue

protected

Definition at line 151 of file DiagonalLinearFunction.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation