#include <tvm/internal/FirstOrderProvider.h>

Inheritance diagram for tvm::internal::FirstOrderProvider:

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Collaboration diagram for tvm::internal::FirstOrderProvider:

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Classes
struct	slice_linear

struct	slice_matrix

Public Member Functions
virtual const Eigen::VectorXd &	value () const

virtual MatrixConstRefWithProperties	jacobian (const Variable &x) const

bool	linearIn (const Variable &x) const

const Space &	imageSpace () const

int	size () const

int	rSize () const

int	tSize () const

const VariableVector &	variables () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Protected Member Functions
	FirstOrderProvider (int m)

	FirstOrderProvider (Space image)

virtual void	resizeCache ()

void	resizeValueCache ()

void	resizeJacobianCache ()

void	addVariable (VariablePtr v, bool linear)

void	removeVariable (VariablePtr v)

void	addVariable (const VariableVector &v, bool linear)

virtual void	addVariable_ (VariablePtr)

virtual void	removeVariable_ (VariablePtr)

void	splitJacobian (const MatrixConstRef &J, const std::vector< VariablePtr > &vars, bool keepProperties=false)

void	splitJacobian (const MatrixConstRef &J, const VariableVector &vars, bool keepProperties=false)

void	resize (int m)

Protected Member Functions inherited from tvm::graph::abstract::Node< FirstOrderProvider >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes
Eigen::VectorXd	value_

utils::internal::MapWithVariableAsKey< MatrixWithProperties, slice_matrix, true >	jacobian_

Space	imageSpace_

VariableVector	variables_

utils::internal::MapWithVariableAsKey< bool, slice_linear >	linear_

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Detailed Description

Describes an entity that can provide a value and its jacobian

Constructor & Destructor Documentation

◆ FirstOrderProvider() [1/2]

tvm::internal::FirstOrderProvider::FirstOrderProvider ( int m )

protected

Constructor for a function/constraint with value in \( \mathbb{R}^m \).

Parameters

m	the size of the function/constraint image space, i.e. the row size of the jacobians (or equivalently in this case the size of the output value).

◆ FirstOrderProvider() [2/2]

tvm::internal::FirstOrderProvider::FirstOrderProvider ( Space image )

protected

Constructor for a function/constraint with value in a specified space.

Parameters

image Description of the image space

Member Function Documentation

◆ addVariable() [1/2]

void tvm::internal::FirstOrderProvider::addVariable	(	const VariableVector &	v,
		bool	linear
	)

protected

Add a variable vector.

Convenience function similar to adding each elements of the vector individually with the same linear parameter

See also: addVariable(VariablePtr, bool)

◆ addVariable() [2/2]

void tvm::internal::FirstOrderProvider::addVariable	(	VariablePtr	v,
		bool	linear
	)

protected

Add a variable. Cache is automatically updated.

Parameters

v	The variable to add
linear	Specify that the entity is depending linearly on the variable or not.

◆ addVariable_()

virtual void tvm::internal::FirstOrderProvider::addVariable_ ( VariablePtr )

protectedvirtual

To be overridden by derived classes that need to react to the addition of a variable. Called at the end of addVariable();

Reimplemented in tvm::function::abstract::Function.

◆ imageSpace()

const Space & tvm::internal::FirstOrderProvider::imageSpace ( ) const

inline

◆ jacobian()

MatrixConstRefWithProperties tvm::internal::FirstOrderProvider::jacobian ( const Variable & x ) const

inlinevirtual

Return the jacobian matrix of this entity corresponding to the variable x

Reimplemented in tvm::constraint::internal::LinearizedTaskConstraint.

◆ linearIn()

bool tvm::internal::FirstOrderProvider::linearIn ( const Variable & x ) const

inline

Linearity w.r.t x

◆ removeVariable()

void tvm::internal::FirstOrderProvider::removeVariable ( VariablePtr v )

protected

Remove variable v. Cache is automatically updated.

◆ removeVariable_()

virtual void tvm::internal::FirstOrderProvider::removeVariable_ ( VariablePtr )

protectedvirtual

To be overridden by derived classes that need to react to the removal of a variable. Called at the end of removeVariable();

Reimplemented in tvm::function::abstract::Function.

◆ resize()

void tvm::internal::FirstOrderProvider::resize ( int m )

protected

Resize the function

◆ resizeCache()

virtual void tvm::internal::FirstOrderProvider::resizeCache ( )

protectedvirtual

Resize all cache members corresponding to active outputs.

This can be overridden in case you do not need all of the default mechanism (typically if you will not use part of the cache). If you override to perform additional operations, do not forget to call this base version in the derived classes.

Reimplemented in tvm::function::abstract::LinearFunction, tvm::function::abstract::Function, and tvm::constraint::abstract::Constraint.

◆ resizeJacobianCache()

void tvm::internal::FirstOrderProvider::resizeJacobianCache ( )

protected

Sub-methods of resizeCache resizing the jacobian cache matrices (if used). To be used by derived classes that need this level of granularity.

◆ resizeValueCache()

void tvm::internal::FirstOrderProvider::resizeValueCache ( )

protected

Sub-methods of resizeCache resizing the value cache vector (if used). To be used by derived classes that need this level of granularity.

◆ rSize()

int tvm::internal::FirstOrderProvider::rSize ( ) const

inline

Size of the output value (representation size of the image space).

◆ size()

int tvm::internal::FirstOrderProvider::size ( ) const

inline

Return the image space size.

◆ splitJacobian() [1/2]

void tvm::internal::FirstOrderProvider::splitJacobian	(	const MatrixConstRef &	J,
		const std::vector< VariablePtr > &	vars,
		bool	keepProperties = `false`
	)

protected

Split a jacobian matrix J into its components Ji corresponding to the provided variables.

Parameters

J	The matrix to be split
vars	The vector of variables giving the layout of J. It is the user's responsibility to ensure these variables are part of variables_ and that J has the correct size.
keepProperties	If true, the properties associated with matrices Ji are kept, if not they are reset to default.

◆ splitJacobian() [2/2]

void tvm::internal::FirstOrderProvider::splitJacobian	(	const MatrixConstRef &	J,
		const VariableVector &	vars,
		bool	keepProperties = `false`
	)

inlineprotected

Overload for VariableVector operations

◆ tSize()

int tvm::internal::FirstOrderProvider::tSize ( ) const

inline

Size of the tangent space to the image space (or equivalently row size of the jacobian matrices).

◆ value()

const Eigen::VectorXd & tvm::internal::FirstOrderProvider::value ( ) const

inlinevirtual

Return the value of this entity

Reimplemented in tvm::robot::JointsSelector.

◆ variables()

const VariableVector & tvm::internal::FirstOrderProvider::variables ( ) const

inline

Return the variables

Member Data Documentation

◆ imageSpace_

Space tvm::internal::FirstOrderProvider::imageSpace_

protected

◆ jacobian_

utils::internal::MapWithVariableAsKey<MatrixWithProperties, slice_matrix, true> tvm::internal::FirstOrderProvider::jacobian_

protected

◆ linear_

utils::internal::MapWithVariableAsKey<bool, slice_linear> tvm::internal::FirstOrderProvider::linear_

protected

◆ value_

Eigen::VectorXd tvm::internal::FirstOrderProvider::value_

protected

◆ variables_

VariableVector tvm::internal::FirstOrderProvider::variables_

protected

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

include/tvm/internal/FirstOrderProvider.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FirstOrderProvider() [1/2]

◆ FirstOrderProvider() [2/2]

Member Function Documentation

◆ addVariable() [1/2]

◆ addVariable() [2/2]

◆ addVariable_()

◆ imageSpace()

◆ jacobian()

◆ linearIn()

◆ removeVariable()

◆ removeVariable_()

◆ resize()

◆ resizeCache()

◆ resizeJacobianCache()

◆ resizeValueCache()

◆ rSize()

◆ size()

◆ splitJacobian() [1/2]

◆ splitJacobian() [2/2]

◆ tSize()

◆ value()

◆ variables()

Member Data Documentation

◆ imageSpace_

◆ jacobian_

◆ linear_

◆ value_

◆ variables_