| Directory: | ./ |
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| File: | include/crocoddyl/core/constraint-base.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ | ||
| 10 | #define CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ | ||
| 11 | |||
| 12 | #include <boost/make_shared.hpp> | ||
| 13 | #include <boost/shared_ptr.hpp> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/fwd.hpp" | ||
| 16 | // | ||
| 17 | #include "crocoddyl/core/data-collector-base.hpp" | ||
| 18 | #include "crocoddyl/core/residual-base.hpp" | ||
| 19 | #include "crocoddyl/core/state-base.hpp" | ||
| 20 | |||
| 21 | namespace crocoddyl { | ||
| 22 | |||
| 23 | enum ConstraintType { Inequality = 0, Equality, Both }; | ||
| 24 | |||
| 25 | /** | ||
| 26 | * @brief Abstract class for constraint models | ||
| 27 | * | ||
| 28 | * A constraint model defines both: inequality \f$\mathbf{g}(\mathbf{x}, | ||
| 29 | * \mathbf{u})\in\mathbb{R}^{ng}\f$ and equality \f$\mathbf{h}(\mathbf{x}, | ||
| 30 | * \mathbf{u})\in\mathbb{R}^{nh}\f$ constraints. The constraint function depends | ||
| 31 | * on the state point \f$\mathbf{x}\in\mathcal{X}\f$, which lies in the state | ||
| 32 | * manifold described with a `nx`-tuple, its velocity \f$\dot{\mathbf{x}}\in | ||
| 33 | * T_{\mathbf{x}}\mathcal{X}\f$ that belongs to the tangent space with `ndx` | ||
| 34 | * dimension, and the control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$. | ||
| 35 | * | ||
| 36 | * The main computations are carried out in `calc()` and `calcDiff()` routines. | ||
| 37 | * `calc()` computes the constraint residual and `calcDiff()` computes the | ||
| 38 | * Jacobians of the constraint function. Concretely speaking, `calcDiff()` | ||
| 39 | * builds a linear approximation of the constraint function with the form: | ||
| 40 | * \f$\mathbf{g_x}\in\mathbb{R}^{ng\times ndx}\f$, | ||
| 41 | * \f$\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\f$, | ||
| 42 | * \f$\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\f$ | ||
| 43 | * \f$\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\f$. Additionally, it is important | ||
| 44 | * to note that `calcDiff()` computes the derivatives using the latest stored | ||
| 45 | * values by `calc()`. Thus, we need to first run `calc()`. | ||
| 46 | * | ||
| 47 | * \sa `calc()`, `calcDiff()`, `createData()` | ||
| 48 | */ | ||
| 49 | template <typename _Scalar> | ||
| 50 | class ConstraintModelAbstractTpl { | ||
| 51 | public: | ||
| 52 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 53 | |||
| 54 | typedef _Scalar Scalar; | ||
| 55 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 56 | typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract; | ||
| 57 | typedef StateAbstractTpl<Scalar> StateAbstract; | ||
| 58 | typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract; | ||
| 59 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 60 | typedef typename MathBase::VectorXs VectorXs; | ||
| 61 | |||
| 62 | /** | ||
| 63 | * @brief Initialize the constraint model | ||
| 64 | * | ||
| 65 | * @param[in] state State of the multibody system | ||
| 66 | * @param[in] residual Residual model | ||
| 67 | * @param[in] ng Number of inequality constraints | ||
| 68 | * @param[in] nh Number of equality constraints | ||
| 69 | */ | ||
| 70 | ConstraintModelAbstractTpl(boost::shared_ptr<StateAbstract> state, | ||
| 71 | boost::shared_ptr<ResidualModelAbstract> residual, | ||
| 72 | const std::size_t ng, const std::size_t nh); | ||
| 73 | |||
| 74 | /** | ||
| 75 | * @copybrief Initialize the constraint model | ||
| 76 | * | ||
| 77 | * @param[in] state State of the multibody system | ||
| 78 | * @param[in] nu Dimension of control vector | ||
| 79 | * @param[in] ng Number of inequality constraints | ||
| 80 | * @param[in] nh Number of equality constraints | ||
| 81 | * @param[in] T_const True if this is a constraint in both running and | ||
| 82 | * terminal nodes. False if it is a constraint on running nodes only (default | ||
| 83 | * true) | ||
| 84 | */ | ||
| 85 | ConstraintModelAbstractTpl(boost::shared_ptr<StateAbstract> state, | ||
| 86 | const std::size_t nu, const std::size_t ng, | ||
| 87 | const std::size_t nh, const bool T_const = true); | ||
| 88 | |||
| 89 | /** | ||
| 90 | * @copybrief ConstraintModelAbstractTpl() | ||
| 91 | * | ||
| 92 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 93 | * | ||
| 94 | * @param[in] state State of the multibody system | ||
| 95 | * @param[in] ng Number of inequality constraints | ||
| 96 | * @param[in] nh Number of equality constraints | ||
| 97 | * @param[in] T_const True if this is a constraint in both running and | ||
| 98 | * terminal nodes. False if it is a constraint on running nodes only (default | ||
| 99 | * true) | ||
| 100 | */ | ||
| 101 | ConstraintModelAbstractTpl(boost::shared_ptr<StateAbstract> state, | ||
| 102 | const std::size_t ng, const std::size_t nh, | ||
| 103 | const bool T_const = true); | ||
| 104 | virtual ~ConstraintModelAbstractTpl(); | ||
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Compute the constraint value | ||
| 108 | * | ||
| 109 | * @param[in] data Constraint data | ||
| 110 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 111 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 112 | */ | ||
| 113 | virtual void calc(const boost::shared_ptr<ConstraintDataAbstract>& data, | ||
| 114 | const Eigen::Ref<const VectorXs>& x, | ||
| 115 | const Eigen::Ref<const VectorXs>& u) = 0; | ||
| 116 | |||
| 117 | /** | ||
| 118 | * @brief Compute the constraint value for nodes that depends only on the | ||
| 119 | * state | ||
| 120 | * | ||
| 121 | * It updates the constraint based on the state only. This function is | ||
| 122 | * commonly used in the terminal nodes of an optimal control problem. | ||
| 123 | * | ||
| 124 | * @param[in] data Constraint data | ||
| 125 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 126 | */ | ||
| 127 | virtual void calc(const boost::shared_ptr<ConstraintDataAbstract>& data, | ||
| 128 | const Eigen::Ref<const VectorXs>& x); | ||
| 129 | |||
| 130 | /** | ||
| 131 | * @brief Compute the Jacobian of the constraint | ||
| 132 | * | ||
| 133 | * It computes the Jacobian of the constraint function. It assumes that | ||
| 134 | * `calc()` has been run first. | ||
| 135 | * | ||
| 136 | * @param[in] data Constraint data | ||
| 137 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 138 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 139 | */ | ||
| 140 | virtual void calcDiff(const boost::shared_ptr<ConstraintDataAbstract>& data, | ||
| 141 | const Eigen::Ref<const VectorXs>& x, | ||
| 142 | const Eigen::Ref<const VectorXs>& u) = 0; | ||
| 143 | |||
| 144 | /** | ||
| 145 | * @brief Compute the Jacobian of the constraint with respect to the state | ||
| 146 | * only | ||
| 147 | * | ||
| 148 | * It computes the Jacobian of the constraint function based on the state | ||
| 149 | * only. This function is commonly used in the terminal nodes of an optimal | ||
| 150 | * control problem. | ||
| 151 | * | ||
| 152 | * @param[in] data Constraint data | ||
| 153 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 154 | */ | ||
| 155 | virtual void calcDiff(const boost::shared_ptr<ConstraintDataAbstract>& data, | ||
| 156 | const Eigen::Ref<const VectorXs>& x); | ||
| 157 | |||
| 158 | /** | ||
| 159 | * @brief Create the constraint data | ||
| 160 | * | ||
| 161 | * The default data contains objects to store the values of the constraint, | ||
| 162 | * residual vector and their first derivatives. However, it is possible to | ||
| 163 | * specialize this function is we need to create additional data, for | ||
| 164 | * instance, to avoid dynamic memory allocation. | ||
| 165 | * | ||
| 166 | * @param data Data collector | ||
| 167 | * @return the constraint data | ||
| 168 | */ | ||
| 169 | virtual boost::shared_ptr<ConstraintDataAbstract> createData( | ||
| 170 | DataCollectorAbstract* const data); | ||
| 171 | |||
| 172 | /** | ||
| 173 | * @brief Update the lower and upper bounds the upper bound of constraint | ||
| 174 | */ | ||
| 175 | void update_bounds(const VectorXs& lower, const VectorXs& upper); | ||
| 176 | |||
| 177 | /** | ||
| 178 | * @brief Remove the bounds of the constraint | ||
| 179 | */ | ||
| 180 | void remove_bounds(); | ||
| 181 | |||
| 182 | /** | ||
| 183 | * @brief Return the state | ||
| 184 | */ | ||
| 185 | const boost::shared_ptr<StateAbstract>& get_state() const; | ||
| 186 | |||
| 187 | /** | ||
| 188 | * @brief Return the residual model | ||
| 189 | */ | ||
| 190 | const boost::shared_ptr<ResidualModelAbstract>& get_residual() const; | ||
| 191 | |||
| 192 | /** | ||
| 193 | * @brief Return the type of constraint | ||
| 194 | */ | ||
| 195 | ConstraintType get_type() const; | ||
| 196 | |||
| 197 | /** | ||
| 198 | * @brief Return the lower bound of the constraint | ||
| 199 | */ | ||
| 200 | const VectorXs& get_lb() const; | ||
| 201 | |||
| 202 | /** | ||
| 203 | * @brief Return the upper bound of the constraint | ||
| 204 | */ | ||
| 205 | const VectorXs& get_ub() const; | ||
| 206 | |||
| 207 | /** | ||
| 208 | * @brief Return the dimension of the control input | ||
| 209 | */ | ||
| 210 | std::size_t get_nu() const; | ||
| 211 | |||
| 212 | /** | ||
| 213 | * @brief Return the number of inequality constraints | ||
| 214 | */ | ||
| 215 | std::size_t get_ng() const; | ||
| 216 | |||
| 217 | /** | ||
| 218 | * @brief Return the number of equality constraints | ||
| 219 | */ | ||
| 220 | std::size_t get_nh() const; | ||
| 221 | |||
| 222 | /** | ||
| 223 | * @brief Return true if the constraint is imposed in terminal nodes as well. | ||
| 224 | */ | ||
| 225 | bool get_T_constraint() const; | ||
| 226 | |||
| 227 | /** | ||
| 228 | * @brief Print information on the constraint model | ||
| 229 | */ | ||
| 230 | template <class Scalar> | ||
| 231 | friend std::ostream& operator<<(std::ostream& os, | ||
| 232 | const CostModelAbstractTpl<Scalar>& model); | ||
| 233 | |||
| 234 | /** | ||
| 235 | * @brief Print relevant information of the constraint model | ||
| 236 | * | ||
| 237 | * @param[out] os Output stream object | ||
| 238 | */ | ||
| 239 | virtual void print(std::ostream& os) const; | ||
| 240 | |||
| 241 | private: | ||
| 242 | std::size_t ng_internal_; //!< Number of inequality constraints defined at | ||
| 243 | //!< construction time | ||
| 244 | std::size_t nh_internal_; //!< Number of equality constraints defined at | ||
| 245 | //!< construction time | ||
| 246 | |||
| 247 | protected: | ||
| 248 | boost::shared_ptr<StateAbstract> state_; //!< State description | ||
| 249 | boost::shared_ptr<ResidualModelAbstract> residual_; //!< Residual model | ||
| 250 | ConstraintType | ||
| 251 | type_; //!< Type of constraint: inequality=0, equality=1, both=2 | ||
| 252 | VectorXs lb_; //!< Lower bound of the constraint | ||
| 253 | VectorXs ub_; //!< Upper bound of the constraint | ||
| 254 | std::size_t nu_; //!< Control dimension | ||
| 255 | std::size_t ng_; //!< Number of inequality constraints | ||
| 256 | std::size_t nh_; //!< Number of equality constraints | ||
| 257 | bool T_constraint_; //!< Label that indicates if the constraint is imposed in | ||
| 258 | //!< terminal nodes as well | ||
| 259 | VectorXs unone_; //!< No control vector | ||
| 260 | }; | ||
| 261 | |||
| 262 | template <typename _Scalar> | ||
| 263 | struct ConstraintDataAbstractTpl { | ||
| 264 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 265 | |||
| 266 | typedef _Scalar Scalar; | ||
| 267 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 268 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 269 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 270 | typedef typename MathBase::VectorXs VectorXs; | ||
| 271 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 272 | |||
| 273 | template <template <typename Scalar> class Model> | ||
| 274 | 459616 | ConstraintDataAbstractTpl(Model<Scalar>* const model, | |
| 275 | DataCollectorAbstract* const data) | ||
| 276 | 459616 | : shared(data), | |
| 277 | 459616 | residual(model->get_residual()->createData(data)), | |
| 278 |
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459616 | g(model->get_ng()), |
| 279 |
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459616 | Gx(model->get_ng(), model->get_state()->get_ndx()), |
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459616 | Gu(model->get_ng(), model->get_nu()), |
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459616 | h(model->get_nh()), |
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459616 | Hx(model->get_nh(), model->get_state()->get_ndx()), |
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919232 | Hu(model->get_nh(), model->get_nu()) { |
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459616 | if (model->get_ng() == 0 && model->get_nh() == 0) { |
| 285 | ✗ | throw_pretty("Invalid argument: " << "ng and nh cannot be equals to 0"); | |
| 286 | } | ||
| 287 |
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459616 | g.setZero(); |
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459616 | Gx.setZero(); |
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459616 | Gu.setZero(); |
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459616 | h.setZero(); |
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459616 | Hx.setZero(); |
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459616 | Hu.setZero(); |
| 293 | } | ||
| 294 | 229818 | virtual ~ConstraintDataAbstractTpl() {} | |
| 295 | |||
| 296 | DataCollectorAbstract* shared; //!< Shared data | ||
| 297 | boost::shared_ptr<ResidualDataAbstract> residual; //!< Residual data | ||
| 298 | VectorXs g; //!< Inequality constraint values | ||
| 299 | MatrixXs Gx; //!< Jacobian of the inequality constraint | ||
| 300 | MatrixXs Gu; //!< Jacobian of the inequality constraint | ||
| 301 | VectorXs h; //!< Equality constraint values | ||
| 302 | MatrixXs Hx; //!< Jacobian of the equality constraint | ||
| 303 | MatrixXs Hu; //!< Jacobian of the equality constraint | ||
| 304 | }; | ||
| 305 | |||
| 306 | } // namespace crocoddyl | ||
| 307 | |||
| 308 | /* --- Details -------------------------------------------------------------- */ | ||
| 309 | /* --- Details -------------------------------------------------------------- */ | ||
| 310 | /* --- Details -------------------------------------------------------------- */ | ||
| 311 | #include "crocoddyl/core/constraint-base.hxx" | ||
| 312 | |||
| 313 | #endif // CROCODDYL_CORE_CONSTRAINT_BASE_HPP_ | ||
| 314 |