| Directory: | ./ |
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| File: | include/hpp/constraints/affine-function.hh |
| Date: | 2025-05-05 12:19:30 |
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| 1 | // Copyright (c) 2017, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #ifndef HPP_CONSTRAINTS_AFFINE_FUNCTION_HH | ||
| 30 | #define HPP_CONSTRAINTS_AFFINE_FUNCTION_HH | ||
| 31 | |||
| 32 | #include <hpp/constraints/config.hh> | ||
| 33 | #include <hpp/constraints/differentiable-function.hh> | ||
| 34 | #include <hpp/constraints/fwd.hh> | ||
| 35 | |||
| 36 | namespace hpp { | ||
| 37 | namespace constraints { | ||
| 38 | |||
| 39 | /// \addtogroup constraints | ||
| 40 | /// \{ | ||
| 41 | |||
| 42 | /// Identity function | ||
| 43 | /// \f$ q_{out} = q_{in} \f$ | ||
| 44 | /// | ||
| 45 | /// \todo should we handle specifically this function is the solvers ? | ||
| 46 | class HPP_CONSTRAINTS_DLLAPI Identity | ||
| 47 | : public constraints::DifferentiableFunction { | ||
| 48 | public: | ||
| 49 | 1 | static IdentityPtr_t create(const LiegroupSpacePtr_t space, | |
| 50 | const std::string& name) { | ||
| 51 |
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1 | IdentityPtr_t ptr(new Identity(space, name)); |
| 52 | 1 | return ptr; | |
| 53 | } | ||
| 54 | |||
| 55 | 1 | Identity(const LiegroupSpacePtr_t space, const std::string& name) | |
| 56 |
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1 | : DifferentiableFunction(space->nq(), space->nv(), space, name) {} |
| 57 | |||
| 58 | protected: | ||
| 59 | ✗ | void impl_compute(LiegroupElementRef y, vectorIn_t arg) const { | |
| 60 | ✗ | y.vector() = arg; | |
| 61 | } | ||
| 62 | |||
| 63 | ✗ | void impl_jacobian(matrixOut_t J, vectorIn_t) const { J.setIdentity(); } | |
| 64 | |||
| 65 | ✗ | bool isEqual(const DifferentiableFunction& other) const { | |
| 66 | ✗ | dynamic_cast<const Identity&>(other); | |
| 67 | ✗ | if (!DifferentiableFunction::isEqual(other)) return false; | |
| 68 | |||
| 69 | ✗ | return true; | |
| 70 | } | ||
| 71 | |||
| 72 | private: | ||
| 73 | ✗ | Identity() {} | |
| 74 | HPP_SERIALIZABLE(); | ||
| 75 | }; // class Identity | ||
| 76 | |||
| 77 | /// Affine function | ||
| 78 | /// \f$ f(q) = J * q + b \f$ | ||
| 79 | /// | ||
| 80 | /// \todo should we handle specifically this function is the solvers ? | ||
| 81 | class HPP_CONSTRAINTS_DLLAPI AffineFunction : public DifferentiableFunction { | ||
| 82 | public: | ||
| 83 | 1026 | static AffineFunctionPtr_t create(const matrixIn_t& J, | |
| 84 | const std::string name = "LinearFunction") { | ||
| 85 |
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1026 | return AffineFunctionPtr_t(new AffineFunction(J, name)); |
| 86 | } | ||
| 87 | |||
| 88 | 3 | static AffineFunctionPtr_t create(const matrixIn_t& J, const vectorIn_t& b, | |
| 89 | const std::string name = "LinearFunction") { | ||
| 90 |
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3 | return AffineFunctionPtr_t(new AffineFunction(J, b, name)); |
| 91 | } | ||
| 92 | |||
| 93 | protected: | ||
| 94 | 1028 | AffineFunction(const matrixIn_t& J, const std::string name = "LinearFunction") | |
| 95 |
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2056 | : DifferentiableFunction(J.cols(), J.cols(), LiegroupSpace::Rn(J.rows()), |
| 96 | name), | ||
| 97 | 1028 | J_(J), | |
| 98 |
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3084 | b_(vector_t::Zero(J.rows())) { |
| 99 |
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1028 | init(); |
| 100 | 1028 | } | |
| 101 | |||
| 102 | 3 | AffineFunction(const matrixIn_t& J, const vectorIn_t& b, | |
| 103 | const std::string name = "LinearFunction") | ||
| 104 |
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6 | : DifferentiableFunction(J.cols(), J.cols(), LiegroupSpace::Rn(J.rows()), |
| 105 | name), | ||
| 106 | 3 | J_(J), | |
| 107 |
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9 | b_(b) { |
| 108 |
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3 | init(); |
| 109 | 3 | } | |
| 110 | |||
| 111 | 8039 | bool isEqual(const DifferentiableFunction& other) const { | |
| 112 | const AffineFunction& castother = | ||
| 113 |
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8039 | dynamic_cast<const AffineFunction&>(other); |
| 114 |
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8026 | if (!DifferentiableFunction::isEqual(other)) return false; |
| 115 | |||
| 116 |
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8020 | if (J_ != castother.J_) return false; |
| 117 |
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8020 | if (b_ != castother.b_) return false; |
| 118 | |||
| 119 | 8020 | return true; | |
| 120 | } | ||
| 121 | |||
| 122 | private: | ||
| 123 | /// User implementation of function evaluation | ||
| 124 | 12946 | void impl_compute(LiegroupElementRef y, vectorIn_t x) const { | |
| 125 |
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12946 | y.vector().noalias() = J_ * x + b_; |
| 126 | 12946 | } | |
| 127 | |||
| 128 | 12809 | void impl_jacobian(matrixOut_t jacobian, vectorIn_t) const { jacobian = J_; } | |
| 129 | |||
| 130 | 1031 | void init() { | |
| 131 |
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1031 | assert(J_.rows() == b_.rows()); |
| 132 |
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1031 | activeParameters_ = (J_.array() != 0).colwise().any(); |
| 133 | 1031 | activeDerivativeParameters_ = activeParameters_; | |
| 134 | 1031 | } | |
| 135 | |||
| 136 | const matrix_t J_; | ||
| 137 | const vector_t b_; | ||
| 138 | |||
| 139 | ✗ | AffineFunction() {} | |
| 140 | HPP_SERIALIZABLE(); | ||
| 141 | }; // class AffineFunction | ||
| 142 | |||
| 143 | /// Constant function | ||
| 144 | /// \f$ f(q) = C \f$ | ||
| 145 | /// | ||
| 146 | /// \todo should we handle specifically this function is the solvers ? | ||
| 147 | struct HPP_CONSTRAINTS_DLLAPI ConstantFunction : public DifferentiableFunction { | ||
| 148 | public: | ||
| 149 | 2 | static ConstantFunctionPtr_t create( | |
| 150 | const vector_t& constant, const size_type& sizeIn, | ||
| 151 | const size_type& sizeInDer, const std::string name = "ConstantFunction") { | ||
| 152 | return ConstantFunctionPtr_t( | ||
| 153 |
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2 | new ConstantFunction(constant, sizeIn, sizeInDer, name)); |
| 154 | } | ||
| 155 | 7 | static ConstantFunctionPtr_t create( | |
| 156 | const LiegroupElement& element, const size_type& sizeIn, | ||
| 157 | const size_type& sizeInDer, const std::string name = "ConstantFunction") { | ||
| 158 | return ConstantFunctionPtr_t( | ||
| 159 |
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7 | new ConstantFunction(element, sizeIn, sizeInDer, name)); |
| 160 | } | ||
| 161 | |||
| 162 | protected: | ||
| 163 | 2 | ConstantFunction(const vector_t& constant, const size_type& sizeIn, | |
| 164 | const size_type& sizeInDer, | ||
| 165 | const std::string name = "ConstantFunction") | ||
| 166 | 2 | : DifferentiableFunction(sizeIn, sizeInDer, | |
| 167 |
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4 | LiegroupSpace::Rn(constant.rows()), name), |
| 168 |
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6 | c_(constant, outputSpace()) {} |
| 169 | |||
| 170 | 7 | ConstantFunction(const LiegroupElement& element, const size_type& sizeIn, | |
| 171 | const size_type& sizeInDer, | ||
| 172 | const std::string name = "ConstantFunction") | ||
| 173 | 7 | : DifferentiableFunction(sizeIn, sizeInDer, element.space(), name), | |
| 174 |
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14 | c_(element) {} |
| 175 | |||
| 176 | /// User implementation of function evaluation | ||
| 177 | 45 | void impl_compute(LiegroupElementRef r, vectorIn_t) const { r = c_; } | |
| 178 | |||
| 179 | 22 | void impl_jacobian(matrixOut_t J, vectorIn_t) const { J.setZero(); } | |
| 180 | |||
| 181 | ✗ | bool isEqual(const DifferentiableFunction& other) const { | |
| 182 | const ConstantFunction& castother = | ||
| 183 | ✗ | dynamic_cast<const ConstantFunction&>(other); | |
| 184 | ✗ | if (!DifferentiableFunction::isEqual(other)) return false; | |
| 185 | |||
| 186 | ✗ | if (c_.vector() == castother.c_.vector()) return false; | |
| 187 | |||
| 188 | ✗ | return true; | |
| 189 | } | ||
| 190 | |||
| 191 | const LiegroupElement c_; | ||
| 192 | |||
| 193 | private: | ||
| 194 |
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1 | ConstantFunction() {} |
| 195 | HPP_SERIALIZABLE(); | ||
| 196 | }; // class ConstantFunction | ||
| 197 | |||
| 198 | /// \} | ||
| 199 | } // namespace constraints | ||
| 200 | } // namespace hpp | ||
| 201 | |||
| 202 | #endif // HPP_CONSTRAINTS_AFFINE_FUNCTION_HH | ||
| 203 |