/usr/include/roboptim/core/filter/cached-function.hxx is in libroboptim-core-dev 2.0-7.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 | // Copyright (C) 2010 by Thomas Moulard, AIST, CNRS, INRIA.
//
// This file is part of the roboptim.
//
// roboptim is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// roboptim is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#ifndef ROBOPTIM_CORE_FILTER_CACHED_FUNCTION_HXX
# define ROBOPTIM_CORE_FILTER_CACHED_FUNCTION_HXX
# include <boost/format.hpp>
# include <roboptim/core/derivative-size.hh>
namespace roboptim
{
namespace
{
template <typename T>
std::string cachedFunctionName (const T& fct);
template <typename T>
std::string cachedFunctionName (const T& fct)
{
boost::format fmt ("%1% (cached)");
fmt % fct.getName ();
return fmt.str ();
}
} // end of anonymous namespace.
template <typename T>
CachedFunction<T>::CachedFunction (boost::shared_ptr<const T> fct) throw ()
: T (fct->inputSize (), fct->outputSize (), cachedFunctionName (*fct)),
function_ (fct),
cache_ (derivativeSize<T>::value),
gradientCache_ (static_cast<std::size_t> (fct->outputSize ())),
hessianCache_ (static_cast<std::size_t> (fct->outputSize ()))
{
}
template <typename T>
CachedFunction<T>::~CachedFunction () throw ()
{
}
template <typename T>
void
CachedFunction<T>::reset () throw ()
{
cache_.clear ();
gradientCache_.clear ();
hessianCache_.clear ();
}
template <typename T>
void
CachedFunction<T>::impl_compute (result_t& result,
const argument_t& argument)
const throw ()
{
functionCache_t::const_iterator it = cache_[0].find (argument);
if (it != cache_[0].end ())
{
result = it->second;
return;
}
(*function_) (result, argument);
cache_[0][argument] = result;
}
template <>
void
CachedFunction<Function>::impl_gradient (gradient_t&, const argument_t&, size_type)
const throw ()
{
assert (0);
}
template <typename T>
void
CachedFunction<T>::impl_gradient (gradient_t& gradient,
const argument_t& argument,
size_type functionId)
const throw ()
{
functionCache_t::const_iterator it =
gradientCache_[static_cast<std::size_t> (functionId)].find (argument);
if (it != gradientCache_[static_cast<std::size_t> (functionId)].end ())
{
gradient = it->second;
return;
}
function_->gradient (gradient, argument, functionId);
gradientCache_[static_cast<std::size_t> (functionId)][argument] = gradient;
}
template <>
void
CachedFunction<Function>::impl_hessian
(hessian_t&, const argument_t&, size_type) const throw ()
{
assert (0);
}
template <>
void
CachedFunction<DifferentiableFunction>::impl_hessian
(hessian_t&, const argument_t&, size_type) const throw ()
{
assert (0);
}
template <typename T>
void
CachedFunction<T>::impl_hessian (hessian_t& hessian,
const argument_t& argument,
size_type functionId)
const throw ()
{
//FIXME: bug detected by Clang. To be fixed.
#ifdef ROBOPTIM_CORE_THIS_DOES_NOT_WORK
functionCache_t::const_iterator it =
hessianCache_[static_cast<std::size_t> (functionId)].find (argument);
if (it != hessianCache_[functionId].end ())
{
hessian = it->second;
return;
}
#endif
function_->hessian (hessian, argument, functionId);
hessianCache_[static_cast<std::size_t> (functionId)][argument] = hessian;
}
template <>
void
CachedFunction<Function>::impl_derivative
(gradient_t&, double, size_type) const throw ()
{
assert (0);
}
template <>
void
CachedFunction<DifferentiableFunction>::impl_derivative
(gradient_t&, double, size_type) const throw ()
{
assert (0);
}
template <>
void
CachedFunction<TwiceDifferentiableFunction>::impl_derivative
(gradient_t&, double, size_type) const throw ()
{
assert (0);
}
template <typename T>
void
CachedFunction<T>::impl_derivative (gradient_t& derivative,
double argument,
size_type order)
const throw ()
{
vector_t x (1);
x[0] = argument;
functionCache_t::const_iterator it = cache_[order].find (x);
if (it != cache_[order].end ())
{
derivative = it->second;
return;
}
function_->derivative (derivative, x, order);
cache_[order][x] = derivative;
}
} // end of namespace roboptim
#endif //! ROBOPTIM_CORE_FILTER_CACHED_FUNCTION_HXX
|