LinearFunction.h

Go to the documentation of this file.

#ifndef _OCRABASE_LINEAR_FUNCTION_H_
#define _OCRABASE_LINEAR_FUNCTION_H_

// ocra includes
#include "ocra/optim/Function.h"
#include <ocra/util/Macros.h>
//#define LINEAR_FUNCTION_PROVIDES_HESSIANS

namespace ocra
{
  class LinearFunction : public Function
  {
      DEFINE_CLASS_POINTER_TYPEDEFS(LinearFunction)
    // ------------------------ structures --------------------------------------
  public:
    typedef Function  functionType_t;     //< alias on the type of the mother class. Needed to duplicate the function tree.

    // ------------------------ constructors ------------------------------------
  private:
    LinearFunction(const LinearFunction&);
    LinearFunction& operator=(const LinearFunction&);

  protected:
    LinearFunction(Variable& x, int dimension);
  public:
    template<class Derived, class VectorBase>
    LinearFunction(Variable& x, const MatrixBase<Derived>& A, const VectorBase& b);
    ~LinearFunction();

    // ------------------------ public interface---------------------------------
  public:
    const MatrixXd& getA() const;
    const VectorXd& getb() const;
    void changeA(const MatrixXd& A);
    void changeb(const VectorXd& b);

    void invalidateb(int timestamp);

    // ------------------------ protected methods -------------------------------
  protected:
    virtual void updateValue() const;
    virtual void updateJacobian() const;

    virtual void updateb() const;

    virtual void doChangeA(const MatrixXd& A);
    virtual void doChangeb(const VectorXd& b);

    virtual void doUpdateInputSizeEnd();

    void inhibitPropagationFromb() const;
    void desinhibitPropagationFromb() const;

    // ------------------------ protected members -------------------------------
  protected:
    mutable VectorXd  _b;           //< the vecor b in Ax+b
    mutable bool      _bIsUpToDate; //< a boolean indicating the validity of _b

  private:
    mutable bool      _inhibitPropagationFromb; //< if true, invalidateb will not trigger an EVT_CHANGE_VALUE event
  };


  template<class Derived, class VectorBase>
  inline LinearFunction::LinearFunction(Variable& x, const MatrixBase<Derived>& A, const VectorBase& b)
    :NamedInstance("linear function")
    ,AbilitySet(PARTIAL_X)
    ,CoupledInputOutputSize(false)
    ,Function(x,static_cast<int>(A.rows()), LINEARITY_LINEAR, CONVEXITY_CONVEX_AND_CONCAVE, CONTINUITY_CINF)
    ,_bIsUpToDate(true)
    ,_inhibitPropagationFromb(false)
  {
    OCRA_STATIC_ASSERT_VECTOR_OR_DYNAMIC_MATRIX(VectorBase);
    ocra_assert(b.cols()==1);

    _b.resize(_dim);

    changeA(A); //non-forwarded virtual call ok here
    changeb(b); //non-forwarded virtual call ok here
  }


  void testLinearFunction();
}

#endif //_OCRABASE_LINEAR_FUNCTION_H_

// cmake:sourcegroup=Function