ExampleCostEvaluator< SCALAR > Class Template Reference

This class implements the cost function and its gradient. More...

Inheritance diagram for ExampleCostEvaluator< SCALAR >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ExampleCostEvaluator (std::shared_ptr< tpl::OptVector< SCALAR >> optVector)
	~ExampleCostEvaluator () override=default
SCALAR	eval () override
	Evaluates the cost function. More...
void	evalGradient (size_t grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &grad) override
	Evaluates the cost gradient. More...
void	getSparsityPatternHessian (Eigen::VectorXi &iRow, Eigen::VectorXi &jCol) override
void	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda, Eigen::VectorXd &hes) override
	Evaluates the cost hessian. More...
	ExampleCostEvaluator (std::shared_ptr< tpl::OptVector< SCALAR >> optVector)
	number non-zero elements in the hessian (triangular view) More...
	~ExampleCostEvaluator () override=default
SCALAR	eval () override
	Evaluates the cost function. More...
void	evalGradient (size_t grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &grad) override
	Evaluates the cost gradient. More...
void	getSparsityPatternHessian (Eigen::VectorXi &iRow, Eigen::VectorXi &jCol) override
void	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda, Eigen::VectorXd &hes) override
Public Member Functions inherited from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DiscreteCostEvaluatorBase ()=default
	Default constructor. More...
virtual	~DiscreteCostEvaluatorBase ()=default
	Destructor. More...

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	nnz_hessian = 2

Detailed Description

template<typename SCALAR>
class ExampleCostEvaluator< SCALAR >

This class implements the cost function and its gradient.

Template Parameters

SCALAR

Scalar type

Constructor & Destructor Documentation

ExampleCostEvaluator() [1/2]

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ExampleCostEvaluator< SCALAR >::ExampleCostEvaluator ( std::shared_ptr< tpl::OptVector< SCALAR >>  optVector )

inline

~ExampleCostEvaluator() [1/2]

template<typename SCALAR >

ExampleCostEvaluator< SCALAR >::~ExampleCostEvaluator ( )

overridedefault

ExampleCostEvaluator() [2/2]

template<typename SCALAR >

ExampleCostEvaluator< SCALAR >::ExampleCostEvaluator ( std::shared_ptr< tpl::OptVector< SCALAR >>  optVector )

inline

number non-zero elements in the hessian (triangular view)

~ExampleCostEvaluator() [2/2]

template<typename SCALAR >

ExampleCostEvaluator< SCALAR >::~ExampleCostEvaluator ( )

overridedefault

Member Function Documentation

eval() [1/2]

template<typename SCALAR >

SCALAR ExampleCostEvaluator< SCALAR >::eval ( )

inlineoverridevirtual

Evaluates the cost function.

Returns

The evaluates cost function

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

evalGradient() [1/2]

template<typename SCALAR >

void ExampleCostEvaluator< SCALAR >::evalGradient ( size_t  grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &  grad  )

inlineoverridevirtual

Evaluates the cost gradient.

Parameters

[in]	grad_length	The size of the gradient vector
[out]	grad	The values of the gradient

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

getSparsityPatternHessian() [1/2]

template<typename SCALAR >

void ExampleCostEvaluator< SCALAR >::getSparsityPatternHessian ( Eigen::VectorXi &  iRow, Eigen::VectorXi &  jCol  )

inlineoverridevirtual

Reimplemented from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

sparseHessianValues() [1/2]

template<typename SCALAR >

void ExampleCostEvaluator< SCALAR >::sparseHessianValues ( const Eigen::VectorXd &  optVec, const Eigen::VectorXd &  lambda, Eigen::VectorXd &  hes  )

inlineoverridevirtual

Evaluates the cost hessian.

Parameters

[in]	optVec	The optimization variables
[in]	lambda	multipliers for hessian matrix
[out]	hes	The cost hessian matrix coeff

Reimplemented from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

eval() [2/2]

template<typename SCALAR >

SCALAR ExampleCostEvaluator< SCALAR >::eval ( )

inlineoverridevirtual

Evaluates the cost function.

Returns

The evaluates cost function

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

evalGradient() [2/2]

template<typename SCALAR >

void ExampleCostEvaluator< SCALAR >::evalGradient ( size_t  grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &  grad  )

inlineoverridevirtual

Evaluates the cost gradient.

Parameters

[in]	grad_length	The size of the gradient vector
[out]	grad	The values of the gradient

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

getSparsityPatternHessian() [2/2]

template<typename SCALAR >

void ExampleCostEvaluator< SCALAR >::getSparsityPatternHessian ( Eigen::VectorXi &  iRow, Eigen::VectorXi &  jCol  )

inlineoverridevirtual

Note

this function implementation is only required for the exact-Hessian solver case

we only implement the lower-triangular part of the sparsity pattern

Reimplemented from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

sparseHessianValues() [2/2]

template<typename SCALAR >

void ExampleCostEvaluator< SCALAR >::sparseHessianValues ( const Eigen::VectorXd &  optVec, const Eigen::VectorXd &  lambda, Eigen::VectorXd &  hes  )

inlineoverridevirtual

Note

this function implementation is only required for the exact-Hessian solver case

Reimplemented from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

Member Data Documentation

nnz_hessian

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ExampleCostEvaluator< SCALAR >::nnz_hessian = 2

static

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/examples/nlp/Nlp2D.cpp
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/examples/nlp/Nlp3D.cpp