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use clang formatting #97

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8 changes: 4 additions & 4 deletions ifopt_core/include/ifopt/bounds.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace ifopt {

/**
* @brief Upper and lower bound for optimization variables and constraints.
*/
* @brief Upper and lower bound for optimization variables and constraints.
*/
struct Bounds {
/**
* @brief Creates a bound between @a lower and @a upper.
*/
* @brief Creates a bound between @a lower and @a upper.
*/
Bounds(double lower = 0.0, double upper = 0.0)
{
lower_ = lower;
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189 changes: 99 additions & 90 deletions ifopt_core/include/ifopt/composite.h
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Expand Up @@ -48,18 +48,18 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace ifopt {

/**
* @brief Interface representing either Variable, Cost or Constraint.
*
* Variables, costs and constraints can all be fit into the same interface
* (Component). For example, each has a "value", which is either the actual
* value of the variables, the constraint value g or the cost.
* This representation provides one common interface
* ("smallest common denominator") that can be contain either individual
* variables/costs/constraints or a Composite of these. This pattern
* takes care of stacking variables, ordering Jacobians and providing bounds
* for the complete problem without duplicating code. For more information on
* the composite pattern visit https://sourcemaking.com/design_patterns/composite
*/
* @brief Interface representing either Variable, Cost or Constraint.
*
* Variables, costs and constraints can all be fit into the same interface
* (Component). For example, each has a "value", which is either the actual
* value of the variables, the constraint value g or the cost.
* This representation provides one common interface
* ("smallest common denominator") that can be contain either individual
* variables/costs/constraints or a Composite of these. This pattern
* takes care of stacking variables, ordering Jacobians and providing bounds
* for the complete problem without duplicating code. For more information on
* the composite pattern visit https://sourcemaking.com/design_patterns/composite
*/
class Component {
public:
using Ptr = std::shared_ptr<Component>;
Expand All @@ -69,76 +69,78 @@ class Component {
using VecBound = std::vector<Bounds>;

/**
* @brief Creates a component.
* @param num_rows The number of rows of this components.
* @param name The identifier for this component.
*
* The number of rows @c num_rows can represent either
* @li number of variables in this variables set
* @li number of constraints in this constraint set
* @li 1 if this component represents a Cost.
*/
* @brief Creates a component.
* @param num_rows The number of rows of this components.
* @param name The identifier for this component.
*
* The number of rows @c num_rows can represent either
* @li number of variables in this variables set
* @li number of constraints in this constraint set
* @li 1 if this component represents a Cost.
*/
Component(int num_rows, const std::string& name);
virtual ~Component() = default;

/**
* @brief Returns the "values" of whatever this component represents.
*
* @li For Variable this represents the actual optimization values.
* @li For Constraint this represents the constraint value g.
* @li For Cost this represents the cost value.
*/
* @brief Returns the "values" of whatever this component represents.
*
* @li For Variable this represents the actual optimization values.
* @li For Constraint this represents the constraint value g.
* @li For Cost this represents the cost value.
*/
virtual VectorXd GetValues() const = 0;

/**
* @brief Returns the "bounds" of this component.
*
* @li For Variable these are the upper and lower variable bound.
* @li For Constraint this represents the constraint bounds.
* @li For Cost these done't exists (set to infinity).
*/
* @brief Returns the "bounds" of this component.
*
* @li For Variable these are the upper and lower variable bound.
* @li For Constraint this represents the constraint bounds.
* @li For Cost these done't exists (set to infinity).
*/
virtual VecBound GetBounds() const = 0;

/**
* @brief Sets the optimization variables from an Eigen vector.
*
* This is only done for Variable, where these are set from the current
* values of the @ref solvers.
*/
* @brief Sets the optimization variables from an Eigen vector.
*
* This is only done for Variable, where these are set from the current
* values of the @ref solvers.
*/
virtual void SetVariables(const VectorXd& x) = 0;

/**
* @brief Returns derivatives of each row w.r.t. the variables
*
* @li For Constraint this is a matrix with one row per constraint.
* @li For a Cost this is a row vector (gradient transpose).
* @li Not sensible for Variable.
*/
virtual Jacobian GetJacobian() const = 0;

* @brief Returns derivatives of each row w.r.t. the variables
*
* @li For Constraint this is a matrix with one row per constraint.
* @li For a Cost this is a row vector (gradient transpose).
* @li Not sensible for Variable.
*/
virtual Jacobian GetJacobian() const = 0;
virtual Jacobian GetHession(double obj_factor,
const double* lambuda) const = 0;
virtual Jacobian GetSingleHession(int irow) const = 0;
/**
* @brief Returns the number of rows of this component.
*/
* @brief Returns the number of rows of this component.
*/
int GetRows() const;

/**
* @brief Returns the name (id) of this component.
*/
* @brief Returns the name (id) of this component.
*/
std::string GetName() const;

/**
* @brief Prints the relevant information (name, rows, values) of this component.
* @param tolerance When to flag constraint/bound violation.
* @param index_start Of this specific variables-, constraint- or cost set.
*/
* @brief Prints the relevant information (name, rows, values) of this component.
* @param tolerance When to flag constraint/bound violation.
* @param index_start Of this specific variables-, constraint- or cost set.
*/
virtual void Print(double tolerance, int& index_start) const;

/**
* @brief Sets the number of rows of this component.
*
* @attention This should correctly be done through constructor call, only
* delay this by using @c kSpecifyLater if you have good reason.
*/
* @brief Sets the number of rows of this component.
*
* @attention This should correctly be done through constructor call, only
* delay this by using @c kSpecifyLater if you have good reason.
*/
void SetRows(int num_rows);
static const int kSpecifyLater = -1;

Expand All @@ -148,75 +150,82 @@ class Component {
};

/**
* @brief A collection of components which is treated as another Component.
*
* This class follows the Component interface as well, but doesn't actually
* do any evaluation, but only stitches together the results of the
* components it is holding. This is where multiple sets of variables,
* constraints or costs are ordered and combined.
*
* See Component and Composite Pattern for more information.
*/
* @brief A collection of components which is treated as another Component.
*
* This class follows the Component interface as well, but doesn't actually
* do any evaluation, but only stitches together the results of the
* components it is holding. This is where multiple sets of variables,
* constraints or costs are ordered and combined.
*
* See Component and Composite Pattern for more information.
*/
class Composite : public Component {
public:
using Ptr = std::shared_ptr<Composite>;
using ComponentVec = std::vector<Component::Ptr>;

/**
* @brief Creates a Composite holding either variables, costs or constraints.
* @param is_cost True if this class holds cost terms, false for all others.
*
* Constraints and variables append individual constraint sets and Jacobian
* rows below one another, whereas costs terms are all accumulated to a
* scalar value/a single Jacobian row.
*/
* @brief Creates a Composite holding either variables, costs or constraints.
* @param is_cost True if this class holds cost terms, false for all others.
*
* Constraints and variables append individual constraint sets and Jacobian
* rows below one another, whereas costs terms are all accumulated to a
* scalar value/a single Jacobian row.
*/
Composite(const std::string& name, bool is_cost);
virtual ~Composite() = default;

// see Component for documentation
VectorXd GetValues() const override;
Jacobian GetJacobian() const override;

Jacobian GetHession(double obj_factor, const double* lambuda) const override;
Jacobian GetSingleHession(int irow) const override;

VecBound GetBounds() const override;
void SetVariables(const VectorXd& x) override;
void PrintAll() const;

/**
* @brief Access generic component with the specified name.
* @param name The name given to the component.
* @return A generic pointer of that component.
*/
* @brief Access generic component with the specified name.
* @param name The name given to the component.
* @return A generic pointer of that component.
*/
const Component::Ptr GetComponent(std::string name) const;

/**
* @brief Access type-casted component with the specified name.
* @param name The name given to the component.
* @tparam T Type of component.
* @return A type-casted pointer possibly providing addtional functionality.
*/
* @brief Access type-casted component with the specified name.
* @param name The name given to the component.
* @tparam T Type of component.
* @return A type-casted pointer possibly providing addtional functionality.
*/
template <typename T>
std::shared_ptr<T> GetComponent(const std::string& name) const;

/**
* @brief Adds a component to this composite.
*/
* @brief Adds a component to this composite.
*/
void AddComponent(const Component::Ptr&);

/**
* @brief Removes all component from this composite.
*/
* @brief Removes all component from this composite.
*/
void ClearComponents();

/**
* @brief Returns read access to the components.
*/
* @brief Returns read access to the components.
*/
const ComponentVec GetComponents() const;

size_t GetMvar() const;

private:
ComponentVec components_;
bool is_cost_;
// The number of variables for costs/constraint composites (not set for variables).
// Is initialized the first the GetJacobian() is called.
mutable size_t n_var = -1;
mutable size_t m_var = -1;
};

// implementation of template functions
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