DemoCostFunctionDistanceToPoint Class Reference

CostFunction in which the distance to a pre-defined point must be minimized. More...

Inheritance diagram for DemoCostFunctionDistanceToPoint:

Collaboration diagram for DemoCostFunctionDistanceToPoint:

Public Member Functions
	DemoCostFunctionDistanceToPoint (const VectorXd &point, double regularization_weight)
	Constructor. More...
void	evaluate (const VectorXd &sample, VectorXd &cost) const
	The cost function which defines the cost_function. More...
unsigned int	getNumberOfCostComponents () const
	Get the number of individual cost components that constitute the final total cost. More...
string	toString (void) const
	Returns a string representation of the object. More...
Public Member Functions inherited from CostFunction
virtual void	evaluate (const Eigen::VectorXd &sample, Eigen::VectorXd &cost) const =0
	The cost function which defines the cost_function. More...

Detailed Description

CostFunction in which the distance to a pre-defined point must be minimized.

Definition at line 48 of file demoOptimization.cpp.

Constructor & Destructor Documentation

DemoCostFunctionDistanceToPoint ( const VectorXd &  point, double  regularization_weight  )

inline

Constructor.

Parameters

[in]	point	Point to which distance must be minimized.
[in]	regularization_weight	Regularization penalty on the parameter vector.

Definition at line 55 of file demoOptimization.cpp.

  {
    point_ = point;
    regularization_weight_ = regularization_weight;
  }

Member Function Documentation

void evaluate ( const VectorXd &  sample, VectorXd &  cost  ) const

inline

The cost function which defines the cost_function.

Parameters

[in]	sample	The sample
[out]	cost	The scalar cost for each sample.

Definition at line 66 of file demoOptimization.cpp.

  {
    assert(sample.size()==point_.size());
    // Cost is distance to point
    double dist_to_point = sqrt((sample - point_).array().pow(2).sum());
    if (regularization_weight_>0.0)
    {
      cost.resize(3);
      cost[1] = dist_to_point;
      cost[2] = regularization_weight_*sqrt(sample.array().pow(2).sum());
      cost[0] = cost[1] + cost[2];
    }
    else
    {
      cost.resize(1);
      cost[0] = dist_to_point;
    }
  }

unsigned int getNumberOfCostComponents ( ) const

inlinevirtual

Get the number of individual cost components that constitute the final total cost.

Returns

The number of cost components.

Implements CostFunction.

Definition at line 85 of file demoOptimization.cpp.

  {
    if (regularization_weight_>0.0)
      return 2;
    else
      return 0;
  }

string toString ( void  ) const

inlinevirtual

Returns a string representation of the object.

Returns

A string representation of the object.

Implements CostFunction.

Definition at line 96 of file demoOptimization.cpp.

  {
    string str = "CostFunctionDistanceToPoint";
    return str;
  }

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

• demoOptimization.cpp