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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/utils/callbacks.hpp" | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | |||
| 14 | ✗ | CallbackVerbose::CallbackVerbose(VerboseLevel level, int precision) | |
| 15 | : CallbackAbstract(), | ||
| 16 | ✗ | level_(level), | |
| 17 | ✗ | separator_(" "), | |
| 18 | ✗ | separator_short_(" ") { | |
| 19 | ✗ | set_precision(precision); | |
| 20 | ✗ | } | |
| 21 | |||
| 22 | ✗ | CallbackVerbose::~CallbackVerbose() {} | |
| 23 | |||
| 24 | ✗ | VerboseLevel CallbackVerbose::get_level() const { return level_; } | |
| 25 | |||
| 26 | ✗ | void CallbackVerbose::set_level(VerboseLevel level) { | |
| 27 | ✗ | level_ = level; | |
| 28 | ✗ | update_header(); | |
| 29 | ✗ | } | |
| 30 | |||
| 31 | ✗ | int CallbackVerbose::get_precision() const { return precision_; } | |
| 32 | |||
| 33 | ✗ | void CallbackVerbose::set_precision(int precision) { | |
| 34 | ✗ | if (precision < 0) throw_pretty("The precision needs to be at least 0."); | |
| 35 | ✗ | precision_ = precision; | |
| 36 | ✗ | update_header(); | |
| 37 | ✗ | } | |
| 38 | |||
| 39 | ✗ | void CallbackVerbose::update_header() { | |
| 40 | ✗ | auto center_string = [](const std::string& str, int width, | |
| 41 | bool right_padding = true) { | ||
| 42 | ✗ | const int padding_size = width - static_cast<int>(str.length()); | |
| 43 | ✗ | const int padding_left = padding_size > 0 ? padding_size / 2 : 0; | |
| 44 | ✗ | const int padding_right = | |
| 45 | ✗ | padding_size % 2 != 0 | |
| 46 | ✗ | ? padding_left + 1 | |
| 47 | : padding_left; // If the padding is odd, add additional space | ||
| 48 | ✗ | if (right_padding) { | |
| 49 | ✗ | return std::string(padding_left, ' ') + str + | |
| 50 | ✗ | std::string(padding_right, ' '); | |
| 51 | } else { | ||
| 52 | ✗ | return std::string(padding_left, ' ') + str; | |
| 53 | } | ||
| 54 | }; | ||
| 55 | |||
| 56 | ✗ | header_.clear(); | |
| 57 | // Scientific mode requires a column width of 6 + precision | ||
| 58 | ✗ | const int columnwidth = 6 + precision_; | |
| 59 | ✗ | header_ += "iter" + separator_; | |
| 60 | ✗ | switch (level_) { | |
| 61 | ✗ | case _0: { | |
| 62 | ✗ | header_ += center_string("cost", columnwidth) + separator_; | |
| 63 | ✗ | header_ += center_string("stop", columnwidth) + separator_; | |
| 64 | ✗ | header_ += center_string("|grad|", columnwidth) + separator_; | |
| 65 | ✗ | header_ += center_string("preg", columnwidth) + separator_; | |
| 66 | ✗ | header_ += center_string("step", 6) + separator_; | |
| 67 | ✗ | header_ += center_string("dV-exp", columnwidth) + separator_; | |
| 68 | ✗ | header_ += center_string("dV", columnwidth, false); | |
| 69 | ✗ | break; | |
| 70 | } | ||
| 71 | ✗ | case _1: { | |
| 72 | ✗ | header_ += center_string("cost", columnwidth) + separator_; | |
| 73 | ✗ | header_ += center_string("merit", columnwidth) + separator_; | |
| 74 | ✗ | header_ += center_string("stop", columnwidth) + separator_; | |
| 75 | ✗ | header_ += center_string("|grad|", columnwidth) + separator_; | |
| 76 | ✗ | header_ += center_string("preg", columnwidth) + separator_; | |
| 77 | ✗ | header_ += center_string("step", 6) + separator_; | |
| 78 | ✗ | header_ += center_string("||ffeas||", columnwidth) + separator_; | |
| 79 | ✗ | header_ += center_string("dV-exp", columnwidth) + separator_; | |
| 80 | ✗ | header_ += center_string("dV", columnwidth, false); | |
| 81 | ✗ | break; | |
| 82 | } | ||
| 83 | ✗ | case _2: { | |
| 84 | ✗ | header_ += center_string("cost", columnwidth) + separator_; | |
| 85 | ✗ | header_ += center_string("merit", columnwidth) + separator_; | |
| 86 | ✗ | header_ += center_string("stop", columnwidth) + separator_; | |
| 87 | ✗ | header_ += center_string("|grad|", columnwidth) + separator_; | |
| 88 | ✗ | header_ += center_string("preg", columnwidth) + separator_; | |
| 89 | ✗ | header_ += center_string("dreg", columnwidth) + separator_; | |
| 90 | ✗ | header_ += center_string("step", 6) + separator_; | |
| 91 | ✗ | header_ += center_string("||ffeas||", columnwidth) + separator_; | |
| 92 | ✗ | header_ += center_string("dV-exp", columnwidth) + separator_; | |
| 93 | ✗ | header_ += center_string("dV", columnwidth, false); | |
| 94 | ✗ | break; | |
| 95 | } | ||
| 96 | ✗ | case _3: { | |
| 97 | ✗ | header_ += center_string("cost", columnwidth) + separator_; | |
| 98 | ✗ | header_ += center_string("merit", columnwidth) + separator_; | |
| 99 | ✗ | header_ += center_string("stop", columnwidth) + separator_; | |
| 100 | ✗ | header_ += center_string("|grad|", columnwidth) + separator_; | |
| 101 | ✗ | header_ += center_string("preg", columnwidth) + separator_; | |
| 102 | ✗ | header_ += center_string("dreg", columnwidth) + separator_; | |
| 103 | ✗ | header_ += center_string("step", 6) + separator_; | |
| 104 | ✗ | header_ += center_string("||ffeas||", columnwidth) + separator_; | |
| 105 | ✗ | header_ += center_string("||gfeas||", columnwidth) + separator_; | |
| 106 | ✗ | header_ += center_string("||hfeas||", columnwidth) + separator_; | |
| 107 | ✗ | header_ += center_string("dV-exp", columnwidth) + separator_; | |
| 108 | ✗ | header_ += center_string("dV", columnwidth, false); | |
| 109 | ✗ | break; | |
| 110 | } | ||
| 111 | ✗ | case _4: { | |
| 112 | ✗ | header_ += center_string("cost", columnwidth) + separator_; | |
| 113 | ✗ | header_ += center_string("merit", columnwidth) + separator_; | |
| 114 | ✗ | header_ += center_string("stop", columnwidth) + separator_; | |
| 115 | ✗ | header_ += center_string("|grad|", columnwidth) + separator_; | |
| 116 | ✗ | header_ += center_string("preg", columnwidth) + separator_; | |
| 117 | ✗ | header_ += center_string("dreg", columnwidth) + separator_; | |
| 118 | ✗ | header_ += center_string("step", 6) + separator_; | |
| 119 | ✗ | header_ += center_string("||ffeas||", columnwidth) + separator_; | |
| 120 | ✗ | header_ += center_string("||gfeas||", columnwidth) + separator_; | |
| 121 | ✗ | header_ += center_string("||hfeas||", columnwidth) + separator_; | |
| 122 | ✗ | header_ += center_string("dV-exp", columnwidth) + separator_; | |
| 123 | ✗ | header_ += center_string("dV", columnwidth) + separator_; | |
| 124 | ✗ | header_ += center_string("dPhi-exp", columnwidth) + separator_; | |
| 125 | ✗ | header_ += center_string("dPhi", columnwidth, false); | |
| 126 | ✗ | break; | |
| 127 | } | ||
| 128 | ✗ | default: { | |
| 129 | } | ||
| 130 | } | ||
| 131 | ✗ | } | |
| 132 | |||
| 133 | ✗ | void CallbackVerbose::operator()(SolverAbstract& solver) { | |
| 134 | ✗ | if (solver.get_iter() % 10 == 0) { | |
| 135 | ✗ | std::cout << header_ << std::endl << std::flush; | |
| 136 | } | ||
| 137 | ✗ | auto space_sign = [this](const double value) { | |
| 138 | ✗ | std::stringstream stream; | |
| 139 | ✗ | if (value >= 0.) { | |
| 140 | ✗ | stream << " "; | |
| 141 | } else { | ||
| 142 | ✗ | stream << "-"; | |
| 143 | } | ||
| 144 | ✗ | stream << std::scientific << std::setprecision(precision_) << abs(value); | |
| 145 | ✗ | return stream.str(); | |
| 146 | ✗ | }; | |
| 147 | |||
| 148 | ✗ | std::cout << std::setw(4) << solver.get_iter() << separator_; // iter | |
| 149 | ✗ | switch (level_) { | |
| 150 | ✗ | case _0: { | |
| 151 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 152 | ✗ | << solver.get_cost() << separator_; // cost | |
| 153 | ✗ | std::cout << solver.get_stop() << separator_; // stop | |
| 154 | ✗ | std::cout << abs(solver.get_d()[0]) << separator_; // grad | |
| 155 | ✗ | std::cout << solver.get_preg() << separator_; // preg | |
| 156 | ✗ | std::cout << std::fixed << std::setprecision(4) << solver.get_steplength() | |
| 157 | ✗ | << separator_short_; // step | |
| 158 | ✗ | std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp | |
| 159 | ✗ | std::cout << space_sign(solver.get_dV()); // dV | |
| 160 | ✗ | break; | |
| 161 | } | ||
| 162 | ✗ | case _1: { | |
| 163 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 164 | ✗ | << solver.get_cost() << separator_short_; // cost | |
| 165 | ✗ | std::cout << space_sign(solver.get_merit()) << separator_; // merit | |
| 166 | ✗ | std::cout << solver.get_stop() << separator_; // stop | |
| 167 | ✗ | std::cout << abs(solver.get_d()[0]) << separator_; // grad | |
| 168 | ✗ | std::cout << solver.get_preg() << separator_; // preg | |
| 169 | ✗ | std::cout << std::fixed << std::setprecision(4) << solver.get_steplength() | |
| 170 | ✗ | << separator_; // step | |
| 171 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 172 | ✗ | << solver.get_ffeas() << separator_short_; // ffeas | |
| 173 | ✗ | std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp | |
| 174 | ✗ | std::cout << space_sign(solver.get_dV()); // dV | |
| 175 | ✗ | break; | |
| 176 | } | ||
| 177 | ✗ | case _2: { | |
| 178 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 179 | ✗ | << solver.get_cost() << separator_short_; // cost | |
| 180 | ✗ | std::cout << space_sign(solver.get_merit()) << separator_; // merit | |
| 181 | ✗ | std::cout << solver.get_stop() << separator_; // stop | |
| 182 | ✗ | std::cout << abs(solver.get_d()[0]) << separator_; // grad | |
| 183 | ✗ | std::cout << solver.get_preg() << separator_; // preg | |
| 184 | ✗ | std::cout << solver.get_dreg() << separator_; // dreg | |
| 185 | ✗ | std::cout << std::fixed << std::setprecision(4) << solver.get_steplength() | |
| 186 | ✗ | << separator_; // step | |
| 187 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 188 | ✗ | << solver.get_ffeas() << separator_short_; // ffeas | |
| 189 | ✗ | std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp | |
| 190 | ✗ | std::cout << space_sign(solver.get_dV()); // dV | |
| 191 | ✗ | break; | |
| 192 | } | ||
| 193 | ✗ | case _3: { | |
| 194 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 195 | ✗ | << solver.get_cost() << separator_short_; // cost | |
| 196 | ✗ | std::cout << space_sign(solver.get_merit()) << separator_; // merit | |
| 197 | ✗ | std::cout << solver.get_stop() << separator_; // stop | |
| 198 | ✗ | std::cout << abs(solver.get_d()[0]) << separator_; // grad | |
| 199 | ✗ | std::cout << solver.get_preg() << separator_; // preg | |
| 200 | ✗ | std::cout << solver.get_dreg() << separator_; // dreg | |
| 201 | ✗ | std::cout << std::fixed << std::setprecision(4) << solver.get_steplength() | |
| 202 | ✗ | << separator_; // step | |
| 203 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 204 | ✗ | << solver.get_ffeas() << separator_; // ffeas | |
| 205 | ✗ | std::cout << solver.get_gfeas() << separator_; // gfeas | |
| 206 | ✗ | std::cout << solver.get_hfeas() << separator_short_; // hfeas | |
| 207 | ✗ | std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp | |
| 208 | ✗ | std::cout << space_sign(solver.get_dV()); // dV | |
| 209 | ✗ | break; | |
| 210 | } | ||
| 211 | ✗ | case _4: { | |
| 212 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 213 | ✗ | << solver.get_cost() << separator_short_; // cost | |
| 214 | ✗ | std::cout << space_sign(solver.get_merit()) << separator_; // merit | |
| 215 | ✗ | std::cout << solver.get_stop() << separator_; // stop | |
| 216 | ✗ | std::cout << abs(solver.get_d()[0]) << separator_; // grad | |
| 217 | ✗ | std::cout << solver.get_preg() << separator_; // preg | |
| 218 | ✗ | std::cout << solver.get_dreg() << separator_; // dreg | |
| 219 | ✗ | std::cout << std::fixed << std::setprecision(4) << solver.get_steplength() | |
| 220 | ✗ | << separator_; // step | |
| 221 | ✗ | std::cout << std::scientific << std::setprecision(precision_) | |
| 222 | ✗ | << solver.get_ffeas() << separator_; // ffeas | |
| 223 | ✗ | std::cout << solver.get_gfeas() << separator_; // gfeas | |
| 224 | ✗ | std::cout << solver.get_hfeas() << separator_short_; // hfeas | |
| 225 | ✗ | std::cout << space_sign(solver.get_dVexp()) << separator_short_; // dVexp | |
| 226 | ✗ | std::cout << space_sign(solver.get_dV()) << separator_short_; // dV | |
| 227 | ✗ | std::cout << space_sign(solver.get_dPhiexp()) | |
| 228 | ✗ | << separator_short_; // dPhiexp | |
| 229 | ✗ | std::cout << space_sign(solver.get_dPhi()); // dPhi | |
| 230 | ✗ | break; | |
| 231 | } | ||
| 232 | ✗ | default: { | |
| 233 | } | ||
| 234 | } | ||
| 235 | ✗ | std::cout << std::endl; | |
| 236 | ✗ | std::cout << std::flush; | |
| 237 | ✗ | } | |
| 238 | |||
| 239 | } // namespace crocoddyl | ||
| 240 |