CVXR Functions
Functions
Here we describe the functions that can be applied to CVXR
expressions. CVXR uses the function information in this section and
the Disciplined Convex Programming tools
to mark expressions with a sign and curvature.
Operators
The infix operators +, -, *, %*%, / are treated as functions. +
and - are affine functions. * and / are affine in CVXR because
expr1*expr2 and expr1 %*% expr2 are allowed only when one of the expressions is constant
and expr1/expr2 is allowed only when expr2 is a scalar constant.
Indexing and slicing
All non-scalar expressions can be indexed using the syntax
expr[i, j]. Indexing is an affine function. The syntax expr[i]
can be used as a shorthand for expr[i, 1] when expr is a column
vector. Similarly, expr[i] is shorthand for expr[1, i] when
expr is a row vector.
Non-scalar expressions can also be sliced into using the standard R
slicing syntax. For example, expr[i:j, r] selects rows i
through j of column r and returns a vector.
CVXR supports advanced indexing using lists of indices or boolean
arrays. The semantics are the same as in R. Any time R might return a
numeric vector, CVXR returns a column vector.
Transpose
The transpose of any expression can be obtained using the syntax
t(expr). Transpose is an affine function.
Power
For any CVXR expression expr, the power operator expr^p is
equivalent to the function power(expr, p).
Scalar functions
A scalar function takes one or more scalars, vectors, or matrices as arguments and returns a scalar.
| Function | Meaning | Domain | Sign | Curvature | Monotonicity |
|---|---|---|---|---|---|
| geo_mean(x) geo_mean(x, p) \(p \in \mathbf{R}^n_{+}\) \(p \neq 0\) | \(x_1^{1/n} \cdots x_n^{1/n}\) \(\left(x_1^{p_1} \cdots x_n^{p_n}\right)^{\frac{1}{\mathbf{1}^T p}}\) | \(x \in \mathbf{R}^n_{+}\) |
 positive
|
 concave
|
 incr.
|
| harmonic_mean(x) | \(\frac{n}{\frac{1}{x_1} + \cdots + \frac{1}{x_n}}\) | \(x \in \mathbf{R}^n_{+}\) |
positive
|
concave
|
incr.
|
| lambda_max(X) | \(\lambda_{\max}(X)\) | \(X \in \mathbf{S}^n\) |
 unknown
|
 convex
|
None |
| lambda_min(X) | \(\lambda_{\min}(X)\) | \(X \in \mathbf{S}^n\) |
unknown
|
concave
|
None |
| lambda_sum_largest(X, k) \(k = 1,\ldots, n\) | \(\text{sum of } k \text{ largest }\\ \text{eigenvalues of }X\) | \(X \in\mathbf{S}^{n}\) |
unknown
|
convex
|
None |
| lambda_sum_smallest(X, k) \(k = 1,\ldots, n\) | \(\text{sum of } k \text{ smallest}\\ \text{eigenvalues of }X\) | \(X \in\mathbf{S}^{n}\) |
unknown
|
concave
|
None |
| log_det(X) | \(\log \left(\det (X)\right)\) | \(X \in \mathbf{S}^n_+\) |
unknown
|
concave
|
None |
| log_sum_exp(X) | \(\log \left(\sum_{ij}e^{X_{ij}}\right)\) | \(X \in\mathbf{R}^{m \times n}\) |
unknown
|
convex
|
incr.
|
| matrix_frac(x, P) | \(x^T P^{-1} x\) | \(x \in \mathbf{R}^n\) \(P \in\mathbf{S}^n_{++}\) |
positive
|
convex
|
None |
| max_entries(X) | \(\max_{ij}\left\{ X_{ij}\right\}\) | \(X \in\mathbf{R}^{m \times n}\) | same as X |
convex
|
incr.
|
| min_entries(X) | \(\min_{ij}\left\{ X_{ij}\right\}\) | \(X \in\mathbf{R}^{m \times n}\) | same as X |
concave
|
incr.
|
| mixed_norm(X, p, q) | \(\left(\sum_k\left(\sum_l\lvert x_{k,l}\rvert^p\right)^{q/p}\right)^{1/q}\) | \(X \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
None |
| cvxr_norm(x) cvxr_norm(x, 2) | \(\sqrt{\sum_{i}x_{i}^2 }\) | \(X \in\mathbf{R}^{n}\) |
positive
|
convex
|
for \(x_{i} \geq 0\)  for \(x_{i} \leq 0\)
|
| cvxr_norm(X, “fro”) | \(\sqrt{\sum_{ij}X_{ij}^2 }\) | \(X \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
for \(X_{ij} \geq 0\) for \(X_{ij} \leq 0\)
|
| cvxr_norm(X, 1) | \(\sum_{ij}\lvert X_{ij} \rvert\) | \(X \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
for \(X_{ij} \geq 0\) for \(X_{ij} \leq 0\)
|
| cvxr_norm(X, “inf”) | \(\max_{ij} \{\lvert X_{ij} \rvert\}\) | \(X \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
for \(X_{ij} \geq 0\) for \(X_{ij} \leq 0\)
|
| cvxr_norm(X, “nuc”) | \(\mathrm{tr}\left(\left(X^T X\right)^{1/2}\right)\) | \(X \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
None |
| cvxr_norm(X) cvxr_norm(X, 2) | \(\sqrt{\lambda_{\max}\left(X^T X\right)}\) | \(X \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
None |
p_norm(X, p) \(p \geq 1\) or p = Inf
|
\(\|X\|_p = \left(\sum_{ij} |X_{ij}|^p \right)^{1/p}\) | \(X \in \mathbf{R}^{m \times n}\) |
positive
|
convex
|
for \(X_{ij} \geq 0\) for \(X_{ij} \leq 0\)
|
| p_norm(X, p) \(p \lt 1\), \(p \neq 0\) | \(\|X\|_p = \left(\sum_{ij} X_{ij}^p \right)^{1/p}\) | \(X \in \mathbf{R}^{m \times n}_+\) |
positive
|
concave
|
incr.
|
| quad_form(x, P) constant \(P \in \mathbf{S}^n_+\) | \(x^T P x\) | \(x \in \mathbf{R}^n\) |
positive
|
convex
|
for \(x_i \geq 0\) for \(x_i \leq 0\)
|
| quad_form(x, P) constant \(P \in \mathbf{S}^n_-\) | \(x^T P x\) | \(x \in \mathbf{R}^n\) |
 negative
|
concave
|
for \(x_i \geq 0\) for \(x_i \leq 0\)
|
| quad_form(c, X) constant \(c \in \mathbf{R}^n\) | \(c^T X c\) | \(X \in\mathbf{R}^{n \times n}\) | depends on c, X |
 affine
|
depends on c |
| quad_over_lin(X, y) | \(\left(\sum_{ij}X_{ij}^2\right)/y\) | \(X \in \mathbf{R}^{m \times n}\) \(y \gt 0\) |
positive
|
convex
|
for \(X_{ij} \geq 0\) for \(X_{ij} \leq 0\) decr. in \(y\)
|
| sum_entries(X) | \(\sum_{ij}X_{ij}\) | \(X \in\mathbf{R}^{m \times n}\) | same as X |
affine
|
incr.
|
| sum_largest(X, k) \(k = 1,2,\ldots\) | \(\text{sum of } k\text{ largest }X_{ij}\) | \(X \in\mathbf{R}^{m \times n}\) | same as X |
convex
|
incr.
|
| sum_smallest(X, k) \(k = 1,2,\ldots\) | \(\text{sum of } k\text{ smallest }X_{ij}\) | \(X \in\mathbf{R}^{m \times n}\) | same as X |
concave
|
incr.
|
| sum_squares(X) | \(\sum_{ij}X_{ij}^2\) | \(X \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
for \(X_{ij} \geq 0\) for \(X_{ij} \leq 0\)
|
| matrix_trace(X) | \(\mathrm{tr}\left(X \right)\) | \(X \in\mathbf{R}^{n \times n}\) | same as X |
affine
|
incr.
|
| tv(x) | \(\sum_{i}|x_{i+1} - x_i|\) | \(x \in \mathbf{R}^n\) |
positive
|
convex
|
None |
| tv(X) | \(\sum_{ij}\left\| \left[\begin{matrix} X_{i+1,j} - X_{ij} \\ X_{i,j+1} -X_{ij} \end{matrix}\right] \right\|_2\) | \(X \in \mathbf{R}^{m \times n}\) |
positive
|
convex
|
None |
| tv(X1,…,Xk) | \(\sum_{ij}\left\| \left[\begin{matrix} X_{i+1,j}^{(1)} - X_{ij}^{(1)} \\ X_{i,j+1}^{(1)} -X_{ij}^{(1)} \\ \vdots \\ X_{i+1,j}^{(k)} - X_{ij}^{(k)} \\ X_{i,j+1}^{(k)} -X_{ij}^{(k)} \end{matrix}\right] \right\|_2\) | \(X^{(i)} \in\mathbf{R}^{m \times n}\) |
positive
|
convex
|
None |
Clarifications
The domain \(\mathbf{S}^n\) refers to the set of symmetric matrices. The domains \(\mathbf{S}^n_+\) and \(\mathbf{S}^n_-\) refer to the set of positive semi-definite and negative semi-definite matrices, respectively. Similarly, \(\mathbf{S}^n_{++}\) and \(\mathbf{S}^n_{--}\) refer to the set of positive definite and negative definite matrices, respectively.
For a vector expression x, cvxr_norm(x) and cvxr_norm(x, 2) give the
Euclidean norm. For a matrix expression X, however, cvxr_norm(X) and
cvxr_norm(X, 2) give the spectral norm.
The function cvxr_norm(X, "fro") is called
the
Frobenius norm and
cvxr_norm(X, "nuc")
the
nuclear norm. The
nuclear norm can also be defined as the sum of X’s singular values.
The functions max_entries and min_entries give the largest and
smallest entry, respectively, in a single expression. These functions
should not be confused with max_elemwise and min_elemwise (see
elementwise). Use max_elemwise and min_elemwise to find the
maximum or minimum of a list of scalar expressions.
The function sum_entries sums all the entries in a single
expression. The built-in R sum should be used to add together a
list of expressions. For example, the following code sums
three expressions:
expr_sum <- sum(expr1, expr2, expr3)Functions along an axis
The functions sum_entries, cvxr_norm, max_entries, and min_entries
can be applied along an axis. Given an m by n expression expr,
the syntax func(expr, axis=1) applies func to each row,
returning a m by 1 expression. The syntax func(expr, axis=2)
applies func to each column, returning a 1 by n expression. For
example, the following code sums along the columns and rows of a
matrix variable:
X <- Variable(5, 4)
row_sums <- sum_entries(X, axis=1) # Has size (5, 1)
col_sums <- sum_entries(X, axis=2) # Has size (1, 4)Note that the use of axis differs from its use in CVXPY where
axis=2 implies the columns. In CVXR, we align our implementation
with the base::apply function. The default in most cases is axis = NA, which treats a matrix as one long vector, basically the same as
apply with c(1,2). The exception is cumsum_axis (see below), which cannot take
axis = NA; it will throw an error.
Elementwise functions
These functions operate on each element of their arguments. For
example, if X is a 5 by 4 matrix variable, then abs(X) is a 5 by 4
matrix expression. abs(X)[1, 2] is equivalent to abs(X[1, 2]).
Elementwise functions that take multiple arguments, such as
max_elemwise and multiply, operate on the corresponding
elements of each argument. For example, if X and Y are both 3 by
3 matrix variables, then max_elemwise(X, Y) is a 3 by 3 matrix
expression. max_elemwise(X, Y)[2, 1] is equivalent to
max_elemwise(X[2, 1], Y[2, 1]). This means all arguments must have
the same dimensions or be scalars, which are promoted.
| Function | Meaning | Domain | Sign | Curvature | Monotonicity |
|---|---|---|---|---|---|
| abs(x) | \(\lvert x \rvert\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
for \(x \geq 0\) for \(x \leq 0\)
|
| entr(x) | \(-x \log (x)\) | \(x \gt 0\) |
unknown
|
concave
|
None |
| exp(x) | \(e^x\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
incr.
|
| huber(x, M=1) \(M \geq 0\) | \(\begin{cases}x^2 &|x| \leq M \\ 2M|x| - M^2&|x| \gt M\end{cases}\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
for \(x \geq 0\) for \(x \leq 0\)
|
| inv_pos(x) | \(1/x\) | \(x \gt 0\) |
positive
|
convex
|
decr.
|
| kl_div(x, y) | \(x \log(x/y) - x + y\) | \(x \gt 0\) \(y \gt 0\) |
positive
|
convex
|
None |
| log(x) | \(\log(x)\) | \(x \gt 0\) |
unknown
|
concave
|
incr.
|
| log1p(x) | \(\log(x+1)\) | \(x \gt -1\) | same as x |
concave
|
incr.
|
| logistic(x) | \(\log(1 + e^{x})\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
incr.
|
| max_elemwise(x1, …, xk) | \(\max \left\{x_1, \ldots , x_k\right\}\) | \(x_i \in \mathbf{R}\) | \(\max(\mathrm{sign}(x_1))\) |
convex
|
incr.
|
| min_elemwise(x1, …, xk) | \(\min \left\{x_1, \ldots , x_k\right\}\) | \(x_i \in \mathbf{R}\) | \(\min(\mathrm{sign}(x_1))\) |
concave
|
incr.
|
| multiply(c, x) \(c \in \mathbf{R}\) | c*x | \(x \in\mathbf{R}\) | \(\mathrm{sign}(cx)\) |
affine
|
depends on c |
| neg(x) | \(\max \left\{-x, 0 \right\}\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
decr.
|
| pos(x) | \(\max \left\{x, 0 \right\}\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
incr.
|
| power(x, 0) | \(1\) | \(x \in \mathbf{R}\) |
positive
|
constant | |
| power(x, 1) | \(x\) | \(x \in \mathbf{R}\) | same as x |
affine
|
incr.
|
| power(x, p) \(p = 2, 4, 8, \ldots\) | \(x^p\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
for \(x \geq 0\) for \(x \leq 0\)
|
| power(x, p) \(p \lt 0\) | \(x^p\) | \(x \gt 0\) |
positive
|
convex
|
decr.
|
| power(x, p) \(0 \lt p \lt 1\) | \(x^p\) | \(x \geq 0\) |
positive
|
concave
|
incr.
|
| power(x, p) \(p \gt 1,\ p \neq 2, 4, 8, \ldots\) | \(x^p\) | \(x \geq 0\) |
positive
|
convex
|
incr.
|
| scalene(x, alpha, beta) \(\text{alpha} \geq 0\) \(\text{beta} \geq 0\) | \(\alpha\mathrm{pos}(x)+ \beta\mathrm{neg}(x)\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
for \(x \geq 0\) for \(x \leq 0\)
|
| sqrt(x) | \(\sqrt x\) | \(x \geq 0\) |
positive
|
concave
|
incr.
|
| square(x) | \(x^2\) | \(x \in \mathbf{R}\) |
positive
|
convex
|
for \(x \geq 0\) for \(x \leq 0\)
|
Vector/matrix functions
A vector/matrix function takes one or more scalars, vectors, or matrices as arguments and returns a vector or matrix.
| Function | Meaning | Domain | Sign | Curvature | Monotonicity |
|---|---|---|---|---|---|
| bmat([[X11, …, X1q], …, [Xp1, …, Xpq]]) | \(\left[\begin{matrix} X^{(1,1)} & \cdots & X^{(1,q)} \\ \vdots & & \vdots \\ X^{(p,1)} & \cdots & X^{(p,q)} \end{matrix}\right]\) | \(X^{(i,j)} \in\mathbf{R}^{m_i \times n_j}\) | \(\mathrm{sign}\left(\sum_{ij} X^{(i,j)}_{11}\right)\) |
affine
|
incr.
|
| conv(c, x) \(c\in\mathbf{R}^m\) | \(c*x\) | \(x\in \mathbf{R}^n\) | \(\mathrm{sign}\left(c_{1}x_{1}\right)\) |
affine
|
depends on c |
| cumsum_axis(X, axis=1) | cumulative sum along given axis. | \(X \in \mathbf{R}^{m \times n}\) | same as X |
affine
|
incr.
|
| diag(x) | \(\left[\begin{matrix}x_1 & & \\& \ddots & \\& & x_n\end{matrix}\right]\) | \(x \in\mathbf{R}^{n}\) | same as x |
affine
|
incr.
|
| diag(X) | \(\left[\begin{matrix}X_{11} \\\vdots \\X_{nn}\end{matrix}\right]\) | \(X \in\mathbf{R}^{n \times n}\) | same as X |
affine
|
incr.
|
| diff(X, k=1, axis=1) \(k \in 0,1,2,\ldots\) | \(k\)th order differences (argument \(k\) is actually named \(differences\) and \(lag\) can also be used) along given axis | \(X \in\mathbf{R}^{m \times n}\) | same as X |
affine
|
incr.
|
| hstack(X1, …, Xk) | \(\left[\begin{matrix}X^{(1)} \cdots X^{(k)}\end{matrix}\right]\) | \(X^{(i)} \in\mathbf{R}^{m \times n_i}\) | \(\mathrm{sign}\left(\sum_i X^{(i)}_{11}\right)\) |
affine
|
incr.
|
| kronecker(C, X) \(C\in\mathbf{R}^{p \times q}\) | \(\left[\begin{matrix}C_{11}X & \cdots & C_{1q}X \\ \vdots & & \vdots \\ C_{p1}X & \cdots & C_{pq}X \end{matrix}\right]\) | \(X \in\mathbf{R}^{m \times n}\) | \(\mathrm{sign}\left(C_{11}X_{11}\right)\) |
affine
|
depends on C |
| reshape_expr_expr(X, c( m’, n’)) | \(X' \in\mathbf{R}^{m' \times n'}\) | \(X \in\mathbf{R}^{m \times n}\) \(m'n' = mn\) | same as X |
affine
|
incr.
|
| vec(X) | \(x' \in\mathbf{R}^{mn}\) | \(X \in\mathbf{R}^{m \times n}\) | same as X |
affine
|
incr.
|
| vstack(X1, …, Xk) | \(\left[\begin{matrix}X^{(1)} \\ \vdots \\X^{(k)}\end{matrix}\right]\) | \(X^{(i)} \in\mathbf{R}^{m_i \times n}\) | \(\mathrm{sign}\left(\sum_i X^{(i)}_{11}\right)\) |
affine
|
incr.
|
Clarifications
The input to bmat is a list of lists of CVXR expressions. It
constructs a block matrix. The elements of each inner list are
stacked horizontally, and then the resulting block matrices are stacked
vertically.
The output \(y\) of conv(c, x) has size \(n+m-1\) and is defined as
\(y[k]=\sum_{j=0}^k c[j]x[k-j].\)
The output \(x\) of vec(X) is the matrix \(X\) flattened in column-major order into a vector.
Formally, \(x'_i = X_{i \bmod{m}, \left \lfloor{i/m}\right \rfloor }\).
The output \(X\) of reshape_expr(X, c(m', n')) is the matrix \(X\) cast into an \(m' \times n'\) matrix.
The entries are taken from \(X\) in column-major order and stored in \(X'\) in column-major order.
Formally, \(X'_{ij} = \mathbf{vec}(X)_{m'j + i}\).