public class TargetedSegmentListOptimizerFunction extends OptimizerMultivariableFunction
A OptimizerMultivariableFunction that can be used in a
ParameterOptimizer to optimize an arbitrary trajectory or other
state elements based on the
variables,
the cost function,
the equality constraints, and
the inequality constraints.
This function will be created automatically
at propagation time inside any
TargetedSegmentListOperator that requires a function.
As such, this will not dispose the items it is configured with.
This function applies and resets the variable values supplied by
the SequentialQuadraticProgrammingOptimizer.
| Modifier | Constructor and Description |
|---|---|
|
TargetedSegmentListOptimizerFunction(List<SegmentPropagatorVariableEvaluator> variableEvaluators,
SegmentPropagatorCostFunctionEvaluator costFunctionEvaluator,
List<SegmentPropagatorConstraintEvaluator> equalityEvaluators,
List<SegmentPropagatorInequalityConstraintEvaluator> inequalityEvaluators,
List<SegmentPropagator> segmentPropagators,
FiniteDifferenceMethod differenceMethod,
TargetedSegmentListResults emptyResults,
TargetedSegmentListConfiguration configuration)
Initializes a new instance.
|
protected |
TargetedSegmentListOptimizerFunction(TargetedSegmentListOptimizerFunction existingInstance,
CopyContext context)
Initializes a new instance as a copy of an existing instance.
|
| Modifier and Type | Method and Description |
|---|---|
void |
applyResults(OptimizerMultivariableFunctionResults results)
For
OptimizerMultivariableFunctions that have
state, there may be times when that state should be manually set on a function (sometimes
for performance reasons, when the function will be called multiple times and it should
start from where it left off). |
Object |
clone(CopyContext context)
Clones this object using the specified context.
|
OptimizerMultivariableFunctionResults |
evaluate(double[] variables,
ITrackCalculationProgress progressTracker)
Evaluates the function.
|
boolean |
getIsThreadSafe()
Gets a value indicating whether the methods on this instance are safe to call from
multiple threads simultaneously.
|
addDerivativeEvaluationEvent, addNormalFunctionEvaluationEvent, addPerturbedFunctionEvaluationEvent, callDerivativeEvaluationEvent, computeGradientsNumerically, dispose, dispose, evaluate, evaluateDerivative, evaluateDerivative, getDifferenceMethod, getPerturbationValues, removeDerivativeEvaluationEvent, removeNormalFunctionEvaluationEvent, removePerturbedFunctionEvaluationEvent, setDifferenceMethod, setPerturbationValuesclone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitclosepublic TargetedSegmentListOptimizerFunction(@Nonnull List<SegmentPropagatorVariableEvaluator> variableEvaluators, SegmentPropagatorCostFunctionEvaluator costFunctionEvaluator, @Nonnull List<SegmentPropagatorConstraintEvaluator> equalityEvaluators, @Nonnull List<SegmentPropagatorInequalityConstraintEvaluator> inequalityEvaluators, @Nonnull List<SegmentPropagator> segmentPropagators, @Nonnull FiniteDifferenceMethod differenceMethod, @Nonnull TargetedSegmentListResults emptyResults, @Nonnull TargetedSegmentListConfiguration configuration)
variableEvaluators - The SegmentPropagatorVariableEvaluator that this
function will vary.costFunctionEvaluator - The SegmentPropagatorCostFunction that will form
part of the results of this function.equalityEvaluators - The SegmentPropagatorConstraintEvaluator that will
form part of the results of this function.inequalityEvaluators - The SegmentPropagatorInequalityConstraintEvaluator that will
form part of the results of this function.configuration - The configuration of the parent TargetedSegmentList that is running
the operator that is running this function.emptyResults - The TargetedSegmentListResults of the segment that is running this function.
This may not be null and it must have in it configurations for all of the segmentPropagators.segmentPropagators - The SegmentPropagators that will be run
to evaluate this function.differenceMethod - How this function should be sampled to determine the derivative of a variable.protected TargetedSegmentListOptimizerFunction(@Nonnull TargetedSegmentListOptimizerFunction existingInstance, @Nonnull CopyContext context)
See ICloneWithContext.clone(CopyContext) for more information about how to implement this constructor
in a derived class.
existingInstance - The existing instance to copy.context - A CopyContext that controls the depth of the copy.ArgumentNullException - Thrown when existingInstance or context is null.public Object clone(CopyContext context)
This method should be implemented to call a copy constructor on the class of the
object being cloned. The copy constructor should take the CopyContext as a parameter
in addition to the existing instance to copy. The copy constructor should first call
CopyContext.addObjectMapping(T, T) to identify the newly constructed instance
as a copy of the existing instance. It should then copy all fields, using
CopyContext.updateReference(T) to copy any reference fields.
A typical implementation of ICloneWithContext:
public static class MyClass implements ICloneWithContext {
public MyClass(MyClass existingInstance, CopyContext context) {
context.addObjectMapping(existingInstance, this);
someReference = context.updateReference(existingInstance.someReference);
}
@Override
public final Object clone(CopyContext context) {
return new MyClass(this, context);
}
private Object someReference;
}
In general, all fields that are reference types should be copied with a call to
CopyContext.updateReference(T). There are a couple of exceptions:
If one of these exceptions applies, the CopyContext should be given an opportunity
to update the reference before the reference is copied explicitly. Use
CopyContext.updateReference(T) to update the reference. If CopyContext.updateReference(T) returns
the original object, indicating that the context does not have a replacement registered,
then copy the object manually by invoking a Clone method, a copy constructor, or by manually
constructing a new instance and copying the values.
alwaysCopy = context.updateReference(existingInstance.alwaysCopy);
if (existingInstance.alwaysCopy != null && alwaysCopy == existingInstance.alwaysCopy) {
alwaysCopy = (AlwaysCopy) existingInstance.alwaysCopy.clone(context);
}
If you are implementing an evaluator (a class that implements IEvaluator), the
IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) method shares some responsibilities with the
copy context constructor. Code duplication can be avoided by doing the following:
CopyContext.updateReference(T). You should still call CopyContext.updateReference(T) on any references to
non-evaluators.
IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as the last line in the constructor and pass it the
same CopyContext passed to the constructor.
IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) as normal. See the reference documentation for
IEvaluator.updateEvaluatorReferences(agi.foundation.infrastructure.CopyContext) for more information on implementing that method.
public MyClass(MyClass existingInstance, CopyContext context) {
super(existingInstance, context);
someReference = context.updateReference(existingInstance.someReference);
evaluatorReference = existingInstance.evaluatorReference;
updateEvaluatorReferences(context);
}
@Override
public void updateEvaluatorReferences(CopyContext context) {
evaluatorReference = context.updateReference(evaluatorReference);
}
@Override
public Object clone(CopyContext context) {
return new MyClass(this, context);
}
private Object someReference;
private IEvaluator evaluatorReference;clone in interface ICloneWithContextclone in class OptimizerMultivariableFunctioncontext - The context to use to perform the copy.public boolean getIsThreadSafe()
If this property is true, all methods and properties are guaranteed to be thread safe.
Conceptually, an object that returns true for this method acts as if there is a lock
protecting each method and property such that only one thread at a time can be inside any method or
property in the class. In reality, such locks are generally not used and are in fact discouraged. However,
the user must not experience any exceptions or inconsistent behavior that would not be experienced if such
locks were used.
If this property is false, the behavior when using this class from multiple threads
simultaneously is undefined and may include inconsistent results and exceptions. Clients wishing to use
multiple threads should call CopyForAnotherThread.copy(T) to get a separate instance of the
object for each thread.
getIsThreadSafe in interface IThreadAwaregetIsThreadSafe in class OptimizerMultivariableFunctionpublic OptimizerMultivariableFunctionResults evaluate(double[] variables, ITrackCalculationProgress progressTracker)
Evaluates the function. The OptimizerMultivariableFunctionResults returned must include the computed
equality constraints in the order that they are in the Equalities (get) and the computed
inequality constraints in the order that they are in the Inequalities (get). If there
are no equality constraints, the function should return a zero-length array of doubles for the equality constraint values.
The same should be done for the inequality constraint values if there are no inequality constraint.
If the CostFunction (get / set) is null, the results should include a
null cost function value. Otherwise, the results should return a double as the cost function value.
evaluate in class OptimizerMultivariableFunctionvariables - The value of the variables that are used to evaluate the function.progressTracker - An optional progress tracker.public void applyResults(OptimizerMultivariableFunctionResults results)
OptimizerMultivariableFunctions that have
state, there may be times when that state should be manually set on a function (sometimes
for performance reasons, when the function will be called multiple times and it should
start from where it left off). This method will manually set that state, if needed.applyResults in class OptimizerMultivariableFunctionresults - The results to apply.