QuadraticFunction class. More...

#include <QuadraticFunction.h>

Inheritance diagram for ocra::QuadraticFunction:

Collaboration diagram for ocra::QuadraticFunction:

Public Types
typedef Function	functionType_t

Public Member Functions
template<class Derived , class VectorBase >
	QuadraticFunction (Variable &x, const MatrixBase< Derived > &P, const VectorBase &q, double r)

virtual	~QuadraticFunction ()

const MatrixXd &	getPi (int index=0) const

const VectorXd &	getqi (int index=0) const

double	getri (int index=0) const

const VectorXd &	getr () const

void	changePi (const MatrixXd &Pi, int index=0)

void	changeqi (const VectorXd &qi, int index=0)

void	changeri (double ri, int index=0)

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
	QuadraticFunction (Variable &x, int dimension=1)

virtual void	updateValue () const

virtual void	updateJacobian () const

virtual void	updateHessian () const

virtual void	updateq () const

virtual void	updater () const

virtual void	doUpdateInputSizeEnd ()

virtual void	doUpdateDimensionEnd (int oldDimension)

virtual void	doChangePi (const MatrixXd &Pi, int index)

virtual void	doChangeqi (const VectorXd &qi, int index)

virtual void	doChangeri (double ri, int index)

void	invalidateq (int timestamp)

void	invalidater (int timestamp)


void	inhibitPropagationFrom_q_or_r () const

void	desinhibitPropagationFrom_q_or_r () 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 int	computeDimensionFromInputSize () const

virtual void	doUpdateInputSizeBegin ()

virtual void	doUpdateDimensionBegin (int newDimension)

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
std::vector< VectorXd * >	_q

VectorXd	_r

bool	_qIsUpToDate

bool	_rIsUpToDate

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

QuadraticFunction class.

Warning: None

A quadratic function with & f_i(x) = 1/2 x^T P_i x + q_i^T x + r_i & for each dimension of the function, with $ P_i $ a symmetric, non null matrix of size nxn, $ q_i $ a vector of size n and $ r_i $ a real.

Definition at line 32 of file QuadraticFunction.h.

Member Typedef Documentation

typedef Function ocra::QuadraticFunction::functionType_t

Definition at line 37 of file QuadraticFunction.h.

Constructor & Destructor Documentation

ocra::QuadraticFunction::QuadraticFunction	(	Variable &	x,
		int	dimension = `1`
	)

protected

Light constructor to be used by derived classes.

Definition at line 5 of file QuadraticFunction.cpp.

template<class Derived , class VectorBase >

ocra::QuadraticFunction::QuadraticFunction	(	Variable &	x,
		const MatrixBase< Derived > &	P,
		const VectorBase &	q,
		double	r
	)

inline

Constructor for a unidimensional function

Definition at line 54 of file QuadraticFunction.h.

ocra::QuadraticFunction::~QuadraticFunction ( )

virtual

Definition at line 21 of file QuadraticFunction.cpp.

Member Function Documentation

void ocra::QuadraticFunction::changePi	(	const MatrixXd &	Pi,
		int	index = `0`
	)

Definition at line 27 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::changeqi	(	const VectorXd &	qi,
		int	index = `0`
	)

Definition at line 40 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::changeri	(	double	ri,
		int	index = `0`
	)

Definition at line 51 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::desinhibitPropagationFrom_q_or_r ( ) const

protected

Definition at line 160 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::doChangePi	(	const MatrixXd &	Pi,
		int	index
	)

protectedvirtual

Reimplemented in ocra::WeightedSquareDistanceFunction.

Definition at line 60 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::doChangeqi	(	const VectorXd &	qi,
		int	index
	)

protectedvirtual

Reimplemented in ocra::WeightedSquareDistanceFunction.

Definition at line 66 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::doChangeri	(	double	ri,
		int	index
	)

protectedvirtual

Reimplemented in ocra::WeightedSquareDistanceFunction.

Definition at line 71 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::doUpdateDimensionEnd ( int oldDimension )

protectedvirtual

Reimplemented from ocra::Function.

Definition at line 122 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::doUpdateInputSizeEnd ( void )

protectedvirtual

Reimplemented from ocra::Function.

Reimplemented in ocra::WeightedSquareDistanceFunction.

Definition at line 115 of file QuadraticFunction.cpp.

const MatrixXd & ocra::QuadraticFunction::getPi ( int index = 0 ) const

inline

Definition at line 126 of file QuadraticFunction.h.

const VectorXd & ocra::QuadraticFunction::getqi ( int index = 0 ) const

inline

Definition at line 132 of file QuadraticFunction.h.

const VectorXd & ocra::QuadraticFunction::getr ( ) const

inline

Definition at line 148 of file QuadraticFunction.h.

double ocra::QuadraticFunction::getri ( int index = 0 ) const

inline

Definition at line 143 of file QuadraticFunction.h.

void ocra::QuadraticFunction::inhibitPropagationFrom_q_or_r ( ) const

protected

Inhibit/desinhibit the fact that a call to invalidateq or invalidater triggers a EVT_CHANGE_VALUE event, which is done by default. This is meant to prevent multiple propagation of EVT_CHANGE_VALUE in case of complex update dependencies.

Definition at line 155 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::invalidateq ( int timestamp )

protected

Definition at line 143 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::invalidater ( int timestamp )

protected

Definition at line 149 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::updateHessian ( ) const

protectedvirtual

Reimplemented in ocra::SquaredLinearFunction, and ocra::FcQuadraticFunction.

Definition at line 100 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::updateJacobian ( ) const

protectedvirtual

Reimplemented in ocra::WeightedSquareDistanceFunction.

Definition at line 90 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::updateq ( ) const

protectedvirtual

Reimplemented in ocra::SquaredLinearFunction, and ocra::FcQuadraticFunction.

Definition at line 105 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::updater ( ) const

protectedvirtual

Reimplemented in ocra::SquaredLinearFunction, and ocra::FcQuadraticFunction.

Definition at line 110 of file QuadraticFunction.cpp.

void ocra::QuadraticFunction::updateValue ( ) const

protectedvirtual

Reimplemented in ocra::WeightedSquareDistanceFunction.

Definition at line 77 of file QuadraticFunction.cpp.

Member Data Documentation

std::vector<VectorXd*> ocra::QuadraticFunction::_q

mutableprotected

Definition at line 116 of file QuadraticFunction.h.

bool ocra::QuadraticFunction::_qIsUpToDate

mutableprotected

Definition at line 118 of file QuadraticFunction.h.

VectorXd ocra::QuadraticFunction::_r

mutableprotected

Definition at line 117 of file QuadraticFunction.h.

bool ocra::QuadraticFunction::_rIsUpToDate

mutableprotected

Definition at line 119 of file QuadraticFunction.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