ModularFunction uses C++11 std::function to allow you to easily swap out the cost function, gradient function, and Hessian function during runtime for an optimization::Function instance. More...
#include <Function.hpp>
Public Member Functions | |
| ModularFunction (const std::string &_name="modular_function") | |
| Constructor. | |
| ~ModularFunction () override | |
| Destructor. | |
| double | eval (const Eigen::VectorXd &_x) override |
| eval() will now call whatever CostFunction you set using setCostFunction() | |
| void | evalGradient (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd > _grad) override |
| evalGradient() will now call whatever GradientFunction you set using setGradientFunction() | |
| void | evalHessian (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor > _Hess) override |
| evalHessian() will now call whatever HessianFunction you set using setHessianFunction() | |
| void | setCostFunction (CostFunction _cost) |
| Set the function that gets called by eval() | |
| void | clearCostFunction (bool _printWarning=true) |
| Replace the cost function with a constant-zero function. More... | |
| void | setGradientFunction (GradientFunction _gradient) |
| Set the function that gets called by evalGradient() | |
| void | clearGradientFunction () |
| Replace the gradient function with the default evalGradient() of the base Function class. More... | |
| void | setHessianFunction (HessianFunction _hessian) |
| Set the function that gets called by evalHessian() | |
| void | clearHessianFunction () |
| Replace the Hessian function with the default evalHessian() of the base Function class. More... | |
 Public Member Functions inherited from dart::optimization::Function | |
| Function (const std::string &_name="function") | |
| Constructor. | |
| virtual | ~Function () |
| Destructor. | |
| virtual void | setName (const std::string &newName) |
| Sets the name of this Function. | |
| const std::string & | getName () const |
| Returns the name of this Function. | |
| void | evalGradient (const Eigen::VectorXd &_x, Eigen::VectorXd &_grad) |
| Evaluates and return the objective function at the point x. More... | |
Protected Attributes | |
| CostFunction | mCostFunction |
| Storage for the cost function. | |
| GradientFunction | mGradientFunction |
| Storage for the gradient function. | |
| HessianFunction | mHessianFunction |
| Storage for the Hessian function. | |
| Protected Attributes inherited from dart::optimization::Function | |
| std::string | mName |
| Name of this function. | |
Detailed Description
ModularFunction uses C++11 std::function to allow you to easily swap out the cost function, gradient function, and Hessian function during runtime for an optimization::Function instance.
Member Function Documentation
◆ clearCostFunction()
| void dart::optimization::ModularFunction::clearCostFunction | ( | bool | _printWarning = true | ) |
Replace the cost function with a constant-zero function.
Passing in true will cause a warning to be printed out whenever eval() is called.
◆ clearGradientFunction()
| void dart::optimization::ModularFunction::clearGradientFunction | ( | ) |
Replace the gradient function with the default evalGradient() of the base Function class.
A warning will be printed whenever evalGradient() gets called.
◆ clearHessianFunction()
| void dart::optimization::ModularFunction::clearHessianFunction | ( | ) |
Replace the Hessian function with the default evalHessian() of the base Function class.
A warning will be printed whenever evalHessian() gets called.
The documentation for this class was generated from the following files:
- dart/optimization/Function.hpp
- dart/optimization/Function.cpp
