SimTK::Optimizer Class Reference

API for SimTK Simmath's optimizers. More...

#include <Optimizer.h>

List of all members.

Public Member Functions
	Optimizer ()
	Optimizer (const OptimizerSystem &sys)
	Optimizer (const OptimizerSystem &sys, OptimizerAlgorithm algorithm)
	~Optimizer ()
void	setConvergenceTolerance (Real accuracy)
	Sets the relative accuracy used determine if the problem has converged.
void	setConstraintTolerance (Real tolerance)
	Sets the absolute tolerance used to determine whether constraint violation is acceptable.
void	setMaxIterations (int iter)
	Set the maximum number of iterations allowed of the optimization method's outer stepping loop.
void	setLimitedMemoryHistory (int history)
	Set the maximum number of previous hessians used in a limitied memory hessian approximation.
void	setDiagnosticsLevel (int level)
	Set the level of debugging info displayed.
void	setDifferentiatorMethod (Differentiator::Method method)
	Set which numerical gradient algorithm is used.
void	setOptimizerSystem (const OptimizerSystem &sys)
void	setOptimizerSystem (const OptimizerSystem &sys, OptimizerAlgorithm algorithm)
bool	setAdvancedStrOption (const char *option, const char *value)
	Set the value of an advanced option specified by a string.
bool	setAdvancedRealOption (const char *option, const Real value)
	Set the value of an advanced option specified by a real value.
bool	setAdvancedIntOption (const char *option, const int value)
	Set the value of an advanced option specified by an integer value.
bool	setAdvancedBoolOption (const char *option, const bool value)
	Set the value of an advanced option specified by an boolean value.
void	useNumericalGradient (bool flag)
	Enable numerical gradients.
void	useNumericalJacobian (bool flag)
	Enable numerical Jacobian.
Real	optimize (Vector &)
	Compute optimization.
const OptimizerSystem &	getOptimizerSystem () const
	Return a reference to the OptimizerSystem currently associated with this Optimizer.
bool	isUsingNumericalGradient () const
	Indicate whether the Optimizer is currently set to use a numerical gradient.
bool	isUsingNumericalJacobian () const
	Indicate whether the Optimizer is currently set to use a numerical Jacobian.
Static Public Member Functions
static bool	isAlgorithmAvailable (OptimizerAlgorithm algorithm)
Friends
class	OptimizerRep

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Detailed Description

API for SimTK Simmath's optimizers.

An optimizer finds a local minimum to an objective function. The optimizer can be constrained to search for a minimum within a feasible region. The feasible region can be defined by setting limits on the parameters of the objective function and/or supplying constraint functions that must be satisfied. The optimizer starts searching for a minimum beginning at a user supplied initial value for the set of parameters.

The objective function and constraints are specified by supplying the Optimizer with a concrete implemenation of an OptimizerSystem class. The OptimizerSystem can be passed to the Optimizer either through the Optimizer constructor or by calling the setOptimizerSystem method. The Optimizer class will select the best optimization algorithm to solve the problem based on the constraints supplied by the OptimizerSystem. A user can also override the optimization algorithm selected by the Optimizer by specifying the optimization algorithm.

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Constructor & Destructor Documentation

SimTK::Optimizer::Optimizer

(

)

SimTK::Optimizer::Optimizer

(

const OptimizerSystem &

sys

)

SimTK::Optimizer::Optimizer	(	const OptimizerSystem &	sys,
		OptimizerAlgorithm	algorithm
	)

SimTK::Optimizer::~Optimizer

(

)

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Member Function Documentation

static bool SimTK::Optimizer::isAlgorithmAvailable

(

OptimizerAlgorithm

algorithm

)

[static]

void SimTK::Optimizer::setConvergenceTolerance

(

Real

accuracy

)

Sets the relative accuracy used determine if the problem has converged.

void SimTK::Optimizer::setConstraintTolerance

(

Real

tolerance

)

Sets the absolute tolerance used to determine whether constraint violation is acceptable.

void SimTK::Optimizer::setMaxIterations

(

int

iter

)

Set the maximum number of iterations allowed of the optimization method's outer stepping loop.

Most optimizers also have an inner loop ("line search") which is also iterative but is not affected by this setting. Inner loop convergence is typically prescribed by theory, and failure there is often an indication of an ill-formed problem.

void SimTK::Optimizer::setLimitedMemoryHistory

(

int

history

)

Set the maximum number of previous hessians used in a limitied memory hessian approximation.

void SimTK::Optimizer::setDiagnosticsLevel

(

int

level

)

Set the level of debugging info displayed.

void SimTK::Optimizer::setDifferentiatorMethod

(

Differentiator::Method

method

)

Set which numerical gradient algorithm is used.

void SimTK::Optimizer::setOptimizerSystem

(

const OptimizerSystem &

sys

)

void SimTK::Optimizer::setOptimizerSystem	(	const OptimizerSystem &	sys,
		OptimizerAlgorithm	algorithm
	)

bool SimTK::Optimizer::setAdvancedStrOption	(	const char *	option,
		const char *	value
	)

Set the value of an advanced option specified by a string.

bool SimTK::Optimizer::setAdvancedRealOption	(	const char *	option,
		const Real	value
	)

Set the value of an advanced option specified by a real value.

bool SimTK::Optimizer::setAdvancedIntOption	(	const char *	option,
		const int	value
	)

Set the value of an advanced option specified by an integer value.

bool SimTK::Optimizer::setAdvancedBoolOption	(	const char *	option,
		const bool	value
	)

Set the value of an advanced option specified by an boolean value.

void SimTK::Optimizer::useNumericalGradient

(

bool

flag

)

Enable numerical gradients.

void SimTK::Optimizer::useNumericalJacobian

(

bool

flag

)

Enable numerical Jacobian.

Real SimTK::Optimizer::optimize

(

Vector &

)

Compute optimization.

const OptimizerSystem& SimTK::Optimizer::getOptimizerSystem

(

)

const

Return a reference to the OptimizerSystem currently associated with this Optimizer.

bool SimTK::Optimizer::isUsingNumericalGradient

(

)

const

Indicate whether the Optimizer is currently set to use a numerical gradient.

bool SimTK::Optimizer::isUsingNumericalJacobian

(

)

const

Indicate whether the Optimizer is currently set to use a numerical Jacobian.

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Friends And Related Function Documentation

friend class OptimizerRep [friend]

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

• Optimizer.h