#include <optimization_problem.hpp>

Inheritance diagram for autoware::common::optimization::CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT >:

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Collaboration diagram for autoware::common::optimization::CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT >:

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Public Types
using	DomainValue = DomainValueT

using	Value = autoware::common::types::float64_t

using	Jacobian = Eigen::Matrix< Value, NumVars, NumJacobianCols >

using	Hessian = Eigen::Matrix< Value, NumVars, NumVars >

using	JacobianRef = Eigen::Ref< Eigen::Matrix< Value, NumVars, NumJacobianCols > >

using	HessianRef = Eigen::Ref< Eigen::Matrix< Value, NumVars, NumVars > >

Public Types inherited from autoware::common::optimization::Expression< CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT >, DomainValueT, NumJacobianColsT, NumVarsT >
using	DomainValue = DomainValueT

using	Value = autoware::common::types::float64_t

using	Jacobian = Eigen::Matrix< Value, NumVars, NumJacobianCols >

using	Hessian = Eigen::Matrix< Value, NumVars, NumVars >

using	JacobianRef = Eigen::Ref< Jacobian >

using	HessianRef = Eigen::Ref< Hessian >

Public Member Functions
	CachedExpression (const ComparatorT &comparator=ComparatorT())

Value	score_ (const DomainValue &x)

void	jacobian_ (const DomainValue &x, JacobianRef out)

void	hessian_ (const DomainValue &x, HessianRef out)

void	evaluate (const DomainValue &x, const ComputeMode &mode)

Public Member Functions inherited from autoware::common::optimization::Expression< CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT >, DomainValueT, NumJacobianColsT, NumVarsT >
Value	operator() (const DomainValue &x)

void	jacobian (const DomainValue &x, JacobianRef out)

void	hessian (const DomainValue &x, HessianRef out)

void	evaluate (const DomainValue &x, const ComputeMode &mode)

Static Public Attributes
static constexpr auto	NumJacobianCols = NumJacobianColsT

static constexpr auto	NumVars = NumVarsT

Static Public Attributes inherited from autoware::common::optimization::Expression< CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT >, DomainValueT, NumJacobianColsT, NumVarsT >
static constexpr auto	NumJacobianCols

static constexpr auto	NumVars

Protected Member Functions
void	set_score (Value score)

void	set_jacobian (const JacobianRef &jacobian)

void	set_hessian (const HessianRef &hessian)

Protected Member Functions inherited from autoware::common::helper_functions::crtp< CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT > >
const CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT > &	impl () const

CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT > &	impl ()

Detailed Description

template<typename Derived, typename DomainValueT, int NumJacobianColsT, int NumVarsT, typename ComparatorT>
class autoware::common::optimization::CachedExpression< Derived, DomainValueT, NumJacobianColsT, NumVarsT, ComparatorT >

Expression class for cases when pre-evaluating elements or computing elements together may be more efficient. This class implements the necessary boilerplate to manage the cache state book-keeping. This class implements score_(..), jacobian_(..) and hessian_(..); hence the implementation must only implement evaluate_(..)

Template Parameters

Derived	CRTP implementation class. This class should implement `evaluate_()`.
DomainValueT	Parameter type.
NumJacobianColsT	Number of columns in the jacobian matrix.
NumVarsT	Number of variables.
ComparatorT	Comparator function for `DomainValueT`