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Simbody
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Simbody
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Abstract class which defines an objective/cost function which is optimized by and Optimizer object. More...
#include <Optimizer.h>
Public Member Functions | |
| OptimizerSystem () | |
| OptimizerSystem (int nParameters) | |
| virtual | ~OptimizerSystem () |
| virtual int | objectiveFunc (const Vector ¶meters, const bool new_parameters, Real &f) const |
| Objective/cost function which is to be optimized; return 0 when successful. | |
| virtual int | gradientFunc (const Vector ¶meters, const bool new_parameters, Vector &gradient) const |
| Computes the gradient of the objective function; return 0 when successful. | |
| virtual int | constraintFunc (const Vector ¶meters, const bool new_parameters, Vector &constraints) const |
| Computes the value of the constraints; return 0 when successful. | |
| virtual int | constraintJacobian (const Vector ¶meters, const bool new_parameters, Matrix &jac) const |
| Computes Jacobian of the constraints; return 0 when successful. | |
| virtual int | hessian (const Vector ¶meters, const bool new_parameters, Vector &gradient) const |
| Computes Hessian of the objective function; return 0 when successful. | |
| void | setNumParameters (const int nParameters) |
| Sets the number of parameters in the objective function. | |
| void | setNumEqualityConstraints (const int n) |
| Sets the number of equality constraints. | |
| void | setNumInequalityConstraints (const int n) |
| Sets the number of inequality constraints. | |
| void | setNumLinearEqualityConstraints (const int n) |
| Sets the number of lineaer equality constraints. | |
| void | setNumLinearInequalityConstraints (const int n) |
| Sets the number of lineaer inequality constraints. | |
| void | setParameterLimits (const Vector &lower, const Vector &upper) |
| Set the upper and lower bounds on the paramters. | |
| int | getNumParameters () const |
| Returns the number of parameters, that is, the number of variables that the Optimizer may adjust while searching for a solution. | |
| int | getNumConstraints () const |
| Returns the total number of constraints. | |
| int | getNumEqualityConstraints () const |
| Returns the number of equality constraints. | |
| int | getNumInequalityConstraints () const |
| Returns the number of inequality constraints. | |
| int | getNumLinearEqualityConstraints () const |
| Returns the number of linear equality constraints. | |
| int | getNumNonlinearEqualityConstraints () const |
| Returns the number of nonlinear equality constraints. | |
| int | getNumLinearInequalityConstraints () const |
| Returns the number of linear inequality constraints. | |
| int | getNumNonlinearInequalityConstraints () const |
| Returns the number of linear inequality constraints. | |
| bool | getHasLimits () const |
| Returns true if there are limits on the parameters. | |
| void | getParameterLimits (double **lower, double **upper) const |
| Returns the limits on the allowed values of each parameter, as an array of lower bounds and an array of upper bounds, with assumed lengths matching the number of parameters. | |
Abstract class which defines an objective/cost function which is optimized by and Optimizer object.
The OptimizerSystem also defines any constraints which must be satisfied.
| SimTK::OptimizerSystem::OptimizerSystem | ( | ) | [inline] |
| SimTK::OptimizerSystem::OptimizerSystem | ( | int | nParameters | ) | [inline, explicit] |
| virtual SimTK::OptimizerSystem::~OptimizerSystem | ( | ) | [inline, virtual] |
| virtual int SimTK::OptimizerSystem::objectiveFunc | ( | const Vector & | parameters, |
| const bool | new_parameters, | ||
| Real & | f | ||
| ) | const [inline, virtual] |
Objective/cost function which is to be optimized; return 0 when successful.
This method must be supplied by concrete class.
| virtual int SimTK::OptimizerSystem::gradientFunc | ( | const Vector & | parameters, |
| const bool | new_parameters, | ||
| Vector & | gradient | ||
| ) | const [inline, virtual] |
Computes the gradient of the objective function; return 0 when successful.
This method does not have to be supplied if a numerical gradient is used.
| virtual int SimTK::OptimizerSystem::constraintFunc | ( | const Vector & | parameters, |
| const bool | new_parameters, | ||
| Vector & | constraints | ||
| ) | const [inline, virtual] |
Computes the value of the constraints; return 0 when successful.
This method must be supplied if the objective function has constraints.
| virtual int SimTK::OptimizerSystem::constraintJacobian | ( | const Vector & | parameters, |
| const bool | new_parameters, | ||
| Matrix & | jac | ||
| ) | const [inline, virtual] |
Computes Jacobian of the constraints; return 0 when successful.
This method does not have to be supplied if a numerical jacobian is used.
| virtual int SimTK::OptimizerSystem::hessian | ( | const Vector & | parameters, |
| const bool | new_parameters, | ||
| Vector & | gradient | ||
| ) | const [inline, virtual] |
Computes Hessian of the objective function; return 0 when successful.
This method does not have to be supplied if limited memory is used.
| void SimTK::OptimizerSystem::setNumParameters | ( | const int | nParameters | ) | [inline] |
Sets the number of parameters in the objective function.
| void SimTK::OptimizerSystem::setNumEqualityConstraints | ( | const int | n | ) | [inline] |
Sets the number of equality constraints.
| void SimTK::OptimizerSystem::setNumInequalityConstraints | ( | const int | n | ) | [inline] |
Sets the number of inequality constraints.
| void SimTK::OptimizerSystem::setNumLinearEqualityConstraints | ( | const int | n | ) | [inline] |
Sets the number of lineaer equality constraints.
| void SimTK::OptimizerSystem::setNumLinearInequalityConstraints | ( | const int | n | ) | [inline] |
Sets the number of lineaer inequality constraints.
| void SimTK::OptimizerSystem::setParameterLimits | ( | const Vector & | lower, |
| const Vector & | upper | ||
| ) | [inline] |
Set the upper and lower bounds on the paramters.
| int SimTK::OptimizerSystem::getNumParameters | ( | ) | const [inline] |
Returns the number of parameters, that is, the number of variables that the Optimizer may adjust while searching for a solution.
| int SimTK::OptimizerSystem::getNumConstraints | ( | ) | const [inline] |
Returns the total number of constraints.
| int SimTK::OptimizerSystem::getNumEqualityConstraints | ( | ) | const [inline] |
Returns the number of equality constraints.
| int SimTK::OptimizerSystem::getNumInequalityConstraints | ( | ) | const [inline] |
Returns the number of inequality constraints.
| int SimTK::OptimizerSystem::getNumLinearEqualityConstraints | ( | ) | const [inline] |
Returns the number of linear equality constraints.
| int SimTK::OptimizerSystem::getNumNonlinearEqualityConstraints | ( | ) | const [inline] |
Returns the number of nonlinear equality constraints.
| int SimTK::OptimizerSystem::getNumLinearInequalityConstraints | ( | ) | const [inline] |
Returns the number of linear inequality constraints.
| int SimTK::OptimizerSystem::getNumNonlinearInequalityConstraints | ( | ) | const [inline] |
Returns the number of linear inequality constraints.
| bool SimTK::OptimizerSystem::getHasLimits | ( | ) | const [inline] |
Returns true if there are limits on the parameters.
| void SimTK::OptimizerSystem::getParameterLimits | ( | double ** | lower, |
| double ** | upper | ||
| ) | const [inline] |
Returns the limits on the allowed values of each parameter, as an array of lower bounds and an array of upper bounds, with assumed lengths matching the number of parameters.
1.7.3
