| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/constraint-base.hxx |
| Date: | 2025-03-26 19:23:43 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 50 | 105 | 47.6% |
| Branches: | 30 | 200 | 15.0% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include <boost/core/demangle.hpp> | ||
| 10 | #include <limits> | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | |||
| 14 | template <typename Scalar> | ||
| 15 | 2661 | ConstraintModelAbstractTpl<Scalar>::ConstraintModelAbstractTpl( | |
| 16 | std::shared_ptr<StateAbstract> state, | ||
| 17 | std::shared_ptr<ResidualModelAbstract> residual, const std::size_t ng, | ||
| 18 | const std::size_t nh) | ||
| 19 | 2661 | : ng_internal_(ng), | |
| 20 | 2661 | nh_internal_(nh), | |
| 21 | 2661 | state_(state), | |
| 22 | 2661 | residual_(residual), | |
| 23 |
3/4✓ Branch 0 taken 236 times.
✓ Branch 1 taken 2425 times.
✓ Branch 2 taken 236 times.
✗ Branch 3 not taken.
|
2661 | type_((ng > 0 && nh > 0) ? ConstraintType::Both |
| 24 | 2661 | : (ng > 0 ? ConstraintType::Inequality | |
| 25 | : ConstraintType::Equality)), | ||
| 26 |
2/4✓ Branch 2 taken 2661 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 2661 times.
✗ Branch 6 not taken.
|
2661 | lb_(VectorXs::Constant(ng, -std::numeric_limits<Scalar>::infinity())), |
| 27 |
2/4✓ Branch 2 taken 2661 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 2661 times.
✗ Branch 6 not taken.
|
2661 | ub_(VectorXs::Constant(ng, std::numeric_limits<Scalar>::infinity())), |
| 28 |
1/2✓ Branch 2 taken 2661 times.
✗ Branch 3 not taken.
|
2661 | nu_(residual->get_nu()), |
| 29 | 2661 | ng_(ng), | |
| 30 | 2661 | nh_(nh), | |
| 31 |
2/4✓ Branch 2 taken 2661 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 757 times.
✗ Branch 7 not taken.
|
3418 | T_constraint_(residual->get_q_dependent() || residual->get_v_dependent() |
| 32 |
3/4✓ Branch 0 taken 757 times.
✓ Branch 1 taken 1904 times.
✗ Branch 2 not taken.
✓ Branch 3 taken 757 times.
|
3418 | ? true |
| 33 | : false), | ||
| 34 |
3/6✓ Branch 4 taken 2661 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 2661 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 2661 times.
✗ Branch 11 not taken.
|
5322 | unone_(VectorXs::Zero(residual->get_nu())) { |
| 35 |
2/4✓ Branch 2 taken 2661 times.
✗ Branch 3 not taken.
✗ Branch 4 not taken.
✓ Branch 5 taken 2661 times.
|
2661 | if (nh_ > residual_->get_nr()) { |
| 36 | ✗ | throw_pretty("Invalid argument: " | |
| 37 | << "the number of equality constraints (nh) is wrong as it is " | ||
| 38 | "bigger than the residual dimension.") | ||
| 39 | } | ||
| 40 |
1/2✓ Branch 2 taken 2661 times.
✗ Branch 3 not taken.
|
2661 | std::size_t max_ng = 2 * (residual_->get_nr() - nh_); |
| 41 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 2661 times.
|
2661 | if (ng_ > max_ng) { |
| 42 | ✗ | throw_pretty("Invalid argument: " | |
| 43 | << "the number of inequality constraints (ng) is wrong as it " | ||
| 44 | "should be in the range [0, " + | ||
| 45 | std::to_string(max_ng) + "]"); | ||
| 46 | } | ||
| 47 | 2661 | } | |
| 48 | |||
| 49 | template <typename Scalar> | ||
| 50 | 140 | ConstraintModelAbstractTpl<Scalar>::ConstraintModelAbstractTpl( | |
| 51 | std::shared_ptr<StateAbstract> state, const std::size_t nu, | ||
| 52 | const std::size_t ng, const std::size_t nh, const bool T_const) | ||
| 53 | 140 | : ng_internal_(ng), | |
| 54 | 140 | nh_internal_(nh), | |
| 55 | 140 | state_(state), | |
| 56 | 140 | residual_(std::make_shared<ResidualModelAbstractTpl<Scalar>>( | |
| 57 |
1/2✓ Branch 1 taken 140 times.
✗ Branch 2 not taken.
|
140 | state, ng + nh, nu)), |
| 58 |
3/4✓ Branch 0 taken 70 times.
✓ Branch 1 taken 70 times.
✓ Branch 2 taken 70 times.
✗ Branch 3 not taken.
|
140 | type_((ng > 0 && nh > 0) ? ConstraintType::Both |
| 59 | 140 | : (ng > 0 ? ConstraintType::Inequality | |
| 60 | : ConstraintType::Equality)), | ||
| 61 |
2/4✓ Branch 2 taken 140 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 140 times.
✗ Branch 6 not taken.
|
140 | lb_(VectorXs::Constant(ng, -std::numeric_limits<Scalar>::infinity())), |
| 62 |
2/4✓ Branch 2 taken 140 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 140 times.
✗ Branch 6 not taken.
|
140 | ub_(VectorXs::Constant(ng, std::numeric_limits<Scalar>::infinity())), |
| 63 | 140 | nu_(nu), | |
| 64 | 140 | ng_(ng), | |
| 65 | 140 | nh_(nh), | |
| 66 | 140 | T_constraint_(T_const), | |
| 67 |
2/4✓ Branch 3 taken 140 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 140 times.
✗ Branch 7 not taken.
|
280 | unone_(VectorXs::Zero(nu)) {} |
| 68 | |||
| 69 | template <typename Scalar> | ||
| 70 | ✗ | ConstraintModelAbstractTpl<Scalar>::ConstraintModelAbstractTpl( | |
| 71 | std::shared_ptr<StateAbstract> state, const std::size_t ng, | ||
| 72 | const std::size_t nh, const bool T_const) | ||
| 73 | ✗ | : ng_internal_(ng), | |
| 74 | ✗ | nh_internal_(nh), | |
| 75 | ✗ | state_(state), | |
| 76 | ✗ | residual_( | |
| 77 | ✗ | std::make_shared<ResidualModelAbstractTpl<Scalar>>(state, ng + nh)), | |
| 78 | ✗ | type_((ng > 0 && nh > 0) ? ConstraintType::Both | |
| 79 | ✗ | : (ng > 0 ? ConstraintType::Inequality | |
| 80 | : ConstraintType::Equality)), | ||
| 81 | ✗ | lb_(VectorXs::Constant(ng, -std::numeric_limits<Scalar>::infinity())), | |
| 82 | ✗ | ub_(VectorXs::Constant(ng, std::numeric_limits<Scalar>::infinity())), | |
| 83 | ✗ | nu_(state->get_nv()), | |
| 84 | ✗ | ng_(ng), | |
| 85 | ✗ | nh_(nh), | |
| 86 | ✗ | T_constraint_(T_const), | |
| 87 | ✗ | unone_(VectorXs::Zero(state->get_nv())) {} | |
| 88 | |||
| 89 | template <typename Scalar> | ||
| 90 | ✗ | void ConstraintModelAbstractTpl<Scalar>::calc( | |
| 91 | const std::shared_ptr<ConstraintDataAbstract>& data, | ||
| 92 | const Eigen::Ref<const VectorXs>& x) { | ||
| 93 | ✗ | calc(data, x, unone_); | |
| 94 | } | ||
| 95 | |||
| 96 | template <typename Scalar> | ||
| 97 | ✗ | void ConstraintModelAbstractTpl<Scalar>::calcDiff( | |
| 98 | const std::shared_ptr<ConstraintDataAbstract>& data, | ||
| 99 | const Eigen::Ref<const VectorXs>& x) { | ||
| 100 | ✗ | calcDiff(data, x, unone_); | |
| 101 | } | ||
| 102 | |||
| 103 | template <typename Scalar> | ||
| 104 | std::shared_ptr<ConstraintDataAbstractTpl<Scalar>> | ||
| 105 | ✗ | ConstraintModelAbstractTpl<Scalar>::createData( | |
| 106 | DataCollectorAbstract* const data) { | ||
| 107 | return std::allocate_shared<ConstraintDataAbstract>( | ||
| 108 | ✗ | Eigen::aligned_allocator<ConstraintDataAbstract>(), this, data); | |
| 109 | } | ||
| 110 | |||
| 111 | template <typename Scalar> | ||
| 112 | ✗ | void ConstraintModelAbstractTpl<Scalar>::update_bounds(const VectorXs& lower, | |
| 113 | const VectorXs& upper) { | ||
| 114 | ✗ | if (static_cast<std::size_t>(upper.size()) != ng_internal_ || | |
| 115 | ✗ | static_cast<std::size_t>(lower.size()) != ng_internal_) { | |
| 116 | ✗ | throw_pretty( | |
| 117 | "Invalid argument: the dimension of the lower/upper bound is not the " | ||
| 118 | "same to ng.") | ||
| 119 | } | ||
| 120 | ✗ | if (((upper - lower).array() <= Scalar(0.)).any()) { | |
| 121 | ✗ | throw_pretty( | |
| 122 | "Invalid argument: the upper bound is not higher than the lower bound.") | ||
| 123 | } | ||
| 124 | ✗ | if ((lb_.array() == std::numeric_limits<Scalar>::infinity()).any() || | |
| 125 | ✗ | (lb_.array() == std::numeric_limits<Scalar>::max()).any()) { | |
| 126 | ✗ | throw_pretty( | |
| 127 | "Invalid argument: the lower bound cannot contain a positive " | ||
| 128 | "infinity/max value"); | ||
| 129 | } | ||
| 130 | ✗ | if ((ub_.array() == -std::numeric_limits<Scalar>::infinity()).any() || | |
| 131 | ✗ | (ub_.array() == -std::numeric_limits<Scalar>::infinity()).any()) { | |
| 132 | ✗ | throw_pretty( | |
| 133 | "Invalid argument: the lower bound cannot contain a negative " | ||
| 134 | "infinity/min value"); | ||
| 135 | } | ||
| 136 | ✗ | ng_ = ng_internal_; | |
| 137 | ✗ | nh_ = nh_internal_; | |
| 138 | ✗ | lb_ = lower; | |
| 139 | ✗ | ub_ = upper; | |
| 140 | ✗ | if (nh_ == 0) { | |
| 141 | ✗ | type_ = ConstraintType::Inequality; | |
| 142 | } else { | ||
| 143 | ✗ | type_ = ConstraintType::Both; | |
| 144 | } | ||
| 145 | } | ||
| 146 | |||
| 147 | template <typename Scalar> | ||
| 148 | ✗ | void ConstraintModelAbstractTpl<Scalar>::remove_bounds() { | |
| 149 | ✗ | ng_ = 0; | |
| 150 | ✗ | nh_ = nh_internal_ + ng_internal_; | |
| 151 | ✗ | lb_.setConstant(-std::numeric_limits<Scalar>::infinity()); | |
| 152 | ✗ | ub_.setConstant(std::numeric_limits<Scalar>::infinity()); | |
| 153 | ✗ | type_ = ConstraintType::Equality; | |
| 154 | } | ||
| 155 | |||
| 156 | template <typename Scalar> | ||
| 157 | ✗ | void ConstraintModelAbstractTpl<Scalar>::print(std::ostream& os) const { | |
| 158 | ✗ | os << boost::core::demangle(typeid(*this).name()); | |
| 159 | } | ||
| 160 | |||
| 161 | template <typename Scalar> | ||
| 162 | const std::shared_ptr<StateAbstractTpl<Scalar>>& | ||
| 163 | 467218 | ConstraintModelAbstractTpl<Scalar>::get_state() const { | |
| 164 | 467218 | return state_; | |
| 165 | } | ||
| 166 | |||
| 167 | template <typename Scalar> | ||
| 168 | const std::shared_ptr<ResidualModelAbstractTpl<Scalar>>& | ||
| 169 | 229808 | ConstraintModelAbstractTpl<Scalar>::get_residual() const { | |
| 170 | 229808 | return residual_; | |
| 171 | } | ||
| 172 | |||
| 173 | template <typename Scalar> | ||
| 174 | ✗ | ConstraintType ConstraintModelAbstractTpl<Scalar>::get_type() const { | |
| 175 | ✗ | return type_; | |
| 176 | } | ||
| 177 | |||
| 178 | template <typename Scalar> | ||
| 179 | const typename MathBaseTpl<Scalar>::VectorXs& | ||
| 180 | 120535 | ConstraintModelAbstractTpl<Scalar>::get_lb() const { | |
| 181 | 120535 | return lb_; | |
| 182 | } | ||
| 183 | |||
| 184 | template <typename Scalar> | ||
| 185 | const typename MathBaseTpl<Scalar>::VectorXs& | ||
| 186 | 120535 | ConstraintModelAbstractTpl<Scalar>::get_ub() const { | |
| 187 | 120535 | return ub_; | |
| 188 | } | ||
| 189 | |||
| 190 | template <typename Scalar> | ||
| 191 | 464687 | std::size_t ConstraintModelAbstractTpl<Scalar>::get_nu() const { | |
| 192 | 464687 | return nu_; | |
| 193 | } | ||
| 194 | |||
| 195 | template <typename Scalar> | ||
| 196 | 1061875 | std::size_t ConstraintModelAbstractTpl<Scalar>::get_ng() const { | |
| 197 | 1061875 | return ng_; | |
| 198 | } | ||
| 199 | |||
| 200 | template <typename Scalar> | ||
| 201 | 1054568 | std::size_t ConstraintModelAbstractTpl<Scalar>::get_nh() const { | |
| 202 | 1054568 | return nh_; | |
| 203 | } | ||
| 204 | |||
| 205 | template <typename Scalar> | ||
| 206 | 15922 | bool ConstraintModelAbstractTpl<Scalar>::get_T_constraint() const { | |
| 207 | 15922 | return T_constraint_; | |
| 208 | } | ||
| 209 | |||
| 210 | template <class Scalar> | ||
| 211 | ✗ | std::ostream& operator<<(std::ostream& os, | |
| 212 | const ConstraintModelAbstractTpl<Scalar>& model) { | ||
| 213 | ✗ | model.print(os); | |
| 214 | ✗ | return os; | |
| 215 | } | ||
| 216 | |||
| 217 | } // namespace crocoddyl | ||
| 218 |