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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_ |
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#define CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_ |
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#include "crocoddyl/core/constraint-base.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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struct ConstraintItemTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef ConstraintModelAbstractTpl<Scalar> ConstraintModelAbstract; |
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ConstraintItemTpl() {} |
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ConstraintItemTpl(const std::string& name, |
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std::shared_ptr<ConstraintModelAbstract> constraint, |
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bool active = true) |
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: name(name), constraint(constraint), active(active) {} |
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template <typename NewScalar> |
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ConstraintItemTpl<NewScalar> cast() const { |
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typedef ConstraintItemTpl<NewScalar> ReturnType; |
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ReturnType ret(name, constraint->template cast<NewScalar>(), active); |
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return ret; |
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} |
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/** |
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* @brief Print information on the constraint item |
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*/ |
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friend std::ostream& operator<<(std::ostream& os, |
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const ConstraintItemTpl<Scalar>& model) { |
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os << "{" << *model.constraint << "}"; |
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return os; |
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} |
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std::string name; |
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std::shared_ptr<ConstraintModelAbstract> constraint; |
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bool active; |
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}; |
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/** |
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* @brief Manage the individual constraint models |
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* |
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* This class serves to manage a set of added constraint models. The constraint |
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* functions might active or inactive, with this approach we avoid dynamic |
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* allocation of memory. Each constraint model is added through `addConstraint`, |
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* where its status can be defined. |
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* |
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* The main computations are carring out in `calc` and `calcDiff` routines. |
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* `calc` computes the constraint residuals and `calcDiff` computes the |
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* Jacobians of the constraint functions. Concretely speaking, `calcDiff` builds |
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* a linear approximation of the total constraint function (both inequality and |
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* equality) with the form: \f$\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\f$, |
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* \f$\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\f$ |
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* \f$\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\f$. |
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* |
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* \sa `StateAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ConstraintModelManagerTpl { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef ConstraintModelAbstractTpl<Scalar> ConstraintModelAbstract; |
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typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef ConstraintItemTpl<Scalar> ConstraintItem; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef std::map<std::string, std::shared_ptr<ConstraintItem> > |
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ConstraintModelContainer; |
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typedef std::map<std::string, std::shared_ptr<ConstraintDataAbstract> > |
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ConstraintDataContainer; |
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/** |
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* @brief Initialize the constraint-manager model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] nu Dimension of control vector |
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*/ |
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ConstraintModelManagerTpl(std::shared_ptr<StateAbstract> state, |
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const std::size_t nu); |
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/** |
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* @brief Initialize the constraint-manager model |
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* |
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* The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. |
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* |
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* @param[in] state State of the multibody system |
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*/ |
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explicit ConstraintModelManagerTpl(std::shared_ptr<StateAbstract> state); |
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~ConstraintModelManagerTpl(); |
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/** |
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* @brief Add a constraint item |
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* |
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* @param[in] name Constraint name |
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* @param[in] constraint Constraint model |
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* @param[in] weight Constraint weight |
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* @param[in] active True if the constraint is activated (default true) |
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*/ |
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void addConstraint(const std::string& name, |
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std::shared_ptr<ConstraintModelAbstract> constraint, |
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const bool active = true); |
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/** |
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* @brief Remove a constraint item |
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* |
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* @param[in] name Constraint name |
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*/ |
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void removeConstraint(const std::string& name); |
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/** |
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* @brief Change the constraint status |
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* |
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* @param[in] name Constraint name |
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* @param[in] active Constraint status (true for active and false for |
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* inactive) |
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*/ |
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void changeConstraintStatus(const std::string& name, bool active); |
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/** |
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* @brief Compute the total constraint value |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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void calc(const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Compute the total constraint value for nodes that depends only on |
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* the state |
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* |
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* It updates the constraint based on the state only. This function is |
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* commonly used in the terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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void calc(const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the Jacobian of the total constraint |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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void calcDiff(const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Compute the Jacobian of the total constraint with respect to the |
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* state only |
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* |
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* It computes the Jacobian of the constraint function based on the state |
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* only. This function is commonly used in the terminal nodes of an optimal |
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* control problem. |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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void calcDiff(const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Create the constraint data |
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* |
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* The default data contains objects to store the values of the constraint and |
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* their derivatives (i.e. Jacobians). However, it is possible to specialize |
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* this function is we need to create additional data, for instance, to avoid |
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* dynamic memory allocation. |
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* |
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* @param data Data collector |
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* @return the constraint data |
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*/ |
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std::shared_ptr<ConstraintDataManager> createData( |
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DataCollectorAbstract* const data); |
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/** |
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* @brief Cast the constraint-manager model to a different scalar type. |
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* |
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* It is useful for operations requiring different precision or scalar types. |
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* |
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* @tparam NewScalar The new scalar type to cast to. |
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* @return ConstraintModelManagerTpl<NewScalar> A constraint-manager model |
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* with the new scalar type. |
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*/ |
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template <typename NewScalar> |
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ConstraintModelManagerTpl<NewScalar> cast() const; |
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/** |
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* @brief Return the state |
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*/ |
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const std::shared_ptr<StateAbstract>& get_state() const; |
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/** |
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* @brief Return the stack of constraint models |
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*/ |
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const ConstraintModelContainer& get_constraints() const; |
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/** |
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* @brief Return the dimension of the control input |
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*/ |
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std::size_t get_nu() const; |
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/** |
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* @brief Return the number of active inequality constraints |
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*/ |
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std::size_t get_ng() const; |
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/** |
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* @brief Return the number of active equality constraints |
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*/ |
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std::size_t get_nh() const; |
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/** |
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* @brief Return the number of active inequality terminal constraints |
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*/ |
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std::size_t get_ng_T() const; |
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/** |
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* @brief Return the number of active equality terminal constraints |
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*/ |
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std::size_t get_nh_T() const; |
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/** |
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* @brief Return the names of the set of active constraints |
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*/ |
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const std::set<std::string>& get_active_set() const; |
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/** |
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* @brief Return the names of the set of inactive constraints |
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*/ |
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const std::set<std::string>& get_inactive_set() const; |
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/** |
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* @brief Return the state lower bound |
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*/ |
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const VectorXs& get_lb() const; |
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/** |
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* @brief Return the state upper bound |
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*/ |
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const VectorXs& get_ub() const; |
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/** |
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* @brief Return the status of a given constraint name |
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* |
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* @param[in] name Constraint name |
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*/ |
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bool getConstraintStatus(const std::string& name) const; |
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/** |
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* @brief Print information on the stack of constraints |
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*/ |
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template <class Scalar> |
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friend std::ostream& operator<<( |
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std::ostream& os, const ConstraintModelManagerTpl<Scalar>& model); |
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private: |
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std::shared_ptr<StateAbstract> state_; //!< State description |
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ConstraintModelContainer constraints_; //!< Stack of constraint items |
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VectorXs lb_; //!< Lower bound of the constraint |
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VectorXs ub_; //!< Upper bound of the constraint |
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std::size_t nu_; //!< Dimension of the control input |
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std::size_t ng_; //!< Number of the active inequality constraints |
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std::size_t nh_; //!< Number of the active equality constraints |
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std::size_t ng_T_; //!< Number of the active inequality terminal constraints |
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std::size_t nh_T_; //!< Number of the active equality terminal constraints |
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std::set<std::string> active_set_; //!< Names of the active constraint items |
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std::set<std::string> |
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inactive_set_; //!< Names of the inactive constraint items |
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}; |
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template <typename _Scalar> |
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struct ConstraintDataManagerTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef ConstraintItemTpl<Scalar> ConstraintItem; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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template <template <typename Scalar> class Model> |
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ConstraintDataManagerTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: g_internal(model->get_ng()), |
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Gx_internal(model->get_ng(), model->get_state()->get_ndx()), |
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Gu_internal(model->get_ng(), model->get_nu()), |
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h_internal(model->get_nh()), |
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Hx_internal(model->get_nh(), model->get_state()->get_ndx()), |
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Hu_internal(model->get_nh(), model->get_nu()), |
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shared(data), |
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g(g_internal.data(), model->get_ng()), |
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Gx(Gx_internal.data(), model->get_ng(), model->get_state()->get_ndx()), |
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Gu(Gu_internal.data(), model->get_ng(), model->get_nu()), |
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h(h_internal.data(), model->get_nh()), |
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Hx(Hx_internal.data(), model->get_nh(), model->get_state()->get_ndx()), |
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Hu(Hu_internal.data(), model->get_nh(), model->get_nu()) { |
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g.setZero(); |
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Gx.setZero(); |
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Gu.setZero(); |
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h.setZero(); |
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Hx.setZero(); |
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Hu.setZero(); |
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for (typename ConstraintModelManagerTpl< |
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Scalar>::ConstraintModelContainer::const_iterator it = |
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model->get_constraints().begin(); |
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it != model->get_constraints().end(); ++it) { |
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const std::shared_ptr<ConstraintItem>& item = it->second; |
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constraints.insert( |
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std::make_pair(item->name, item->constraint->createData(data))); |
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} |
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} |
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template <class ActionData> |
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void shareMemory(ActionData* const data) { |
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// Save memory by setting the internal variables with null dimension |
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g_internal.resize(0); |
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Gx_internal.resize(0, 0); |
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Gu_internal.resize(0, 0); |
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h_internal.resize(0); |
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Hx_internal.resize(0, 0); |
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Hu_internal.resize(0, 0); |
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// Share memory with the differential action data |
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new (&g) Eigen::Map<VectorXs>(data->g.data(), data->g.size()); |
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new (&Gx) |
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Eigen::Map<MatrixXs>(data->Gx.data(), data->Gx.rows(), data->Gx.cols()); |
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new (&Gu) |
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Eigen::Map<MatrixXs>(data->Gu.data(), data->Gu.rows(), data->Gu.cols()); |
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new (&h) Eigen::Map<VectorXs>(data->h.data(), data->h.size()); |
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new (&Hx) |
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Eigen::Map<MatrixXs>(data->Hx.data(), data->Hx.rows(), data->Hx.cols()); |
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new (&Hu) |
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Eigen::Map<MatrixXs>(data->Hu.data(), data->Hu.rows(), data->Hu.cols()); |
| 358 |
|
|
} |
| 359 |
|
|
|
| 360 |
|
|
template <class Model> |
| 361 |
|
✗ |
void resize(Model* const model, const bool running_node = true) { |
| 362 |
|
✗ |
const std::size_t ndx = model->get_state()->get_ndx(); |
| 363 |
|
✗ |
const std::size_t nu = model->get_nu(); |
| 364 |
|
✗ |
const std::size_t ng = running_node ? model->get_ng() : model->get_ng_T(); |
| 365 |
|
✗ |
const std::size_t nh = running_node ? model->get_nh() : model->get_nh_T(); |
| 366 |
|
✗ |
new (&g) Eigen::Map<VectorXs>(g_internal.data(), ng); |
| 367 |
|
✗ |
new (&Gx) Eigen::Map<MatrixXs>(Gx_internal.data(), ng, ndx); |
| 368 |
|
✗ |
new (&Gu) Eigen::Map<MatrixXs>(Gu_internal.data(), ng, nu); |
| 369 |
|
✗ |
new (&h) Eigen::Map<VectorXs>(h_internal.data(), nh); |
| 370 |
|
✗ |
new (&Hx) Eigen::Map<MatrixXs>(Hx_internal.data(), nh, ndx); |
| 371 |
|
✗ |
new (&Hu) Eigen::Map<MatrixXs>(Hu_internal.data(), nh, nu); |
| 372 |
|
|
} |
| 373 |
|
|
|
| 374 |
|
|
template <class ActionModel, class ActionData> |
| 375 |
|
✗ |
void resize(ActionModel* const model, ActionData* const data, |
| 376 |
|
|
const bool running_node = true) { |
| 377 |
|
✗ |
const std::size_t ndx = model->get_state()->get_ndx(); |
| 378 |
|
✗ |
const std::size_t nu = model->get_nu(); |
| 379 |
|
✗ |
const std::size_t ng = running_node ? model->get_ng() : model->get_ng_T(); |
| 380 |
|
✗ |
const std::size_t nh = running_node ? model->get_nh() : model->get_nh_T(); |
| 381 |
|
✗ |
data->g.conservativeResize(ng); |
| 382 |
|
✗ |
data->Gx.conservativeResize(ng, ndx); |
| 383 |
|
✗ |
data->Gu.conservativeResize(ng, nu); |
| 384 |
|
✗ |
data->h.conservativeResize(nh); |
| 385 |
|
✗ |
data->Hx.conservativeResize(nh, ndx); |
| 386 |
|
✗ |
data->Hu.conservativeResize(nh, nu); |
| 387 |
|
✗ |
new (&g) Eigen::Map<VectorXs>(data->g.data(), ng); |
| 388 |
|
✗ |
new (&Gx) Eigen::Map<MatrixXs>(data->Gx.data(), ng, ndx); |
| 389 |
|
✗ |
new (&Gu) Eigen::Map<MatrixXs>(data->Gu.data(), ng, nu); |
| 390 |
|
✗ |
new (&h) Eigen::Map<VectorXs>(data->h.data(), nh); |
| 391 |
|
✗ |
new (&Hx) Eigen::Map<MatrixXs>(data->Hx.data(), nh, ndx); |
| 392 |
|
✗ |
new (&Hu) Eigen::Map<MatrixXs>(data->Hu.data(), nh, nu); |
| 393 |
|
|
} |
| 394 |
|
|
|
| 395 |
|
✗ |
VectorXs get_g() const { return g; } |
| 396 |
|
✗ |
MatrixXs get_Gx() const { return Gx; } |
| 397 |
|
✗ |
MatrixXs get_Gu() const { return Gu; } |
| 398 |
|
✗ |
VectorXs get_h() const { return h; } |
| 399 |
|
✗ |
MatrixXs get_Hx() const { return Hx; } |
| 400 |
|
✗ |
MatrixXs get_Hu() const { return Hu; } |
| 401 |
|
|
|
| 402 |
|
✗ |
void set_g(const VectorXs& _g) { |
| 403 |
|
✗ |
if (g.size() != _g.size()) { |
| 404 |
|
✗ |
throw_pretty( |
| 405 |
|
|
"Invalid argument: " << "g has wrong dimension (it should be " + |
| 406 |
|
|
std::to_string(g.size()) + ")"); |
| 407 |
|
|
} |
| 408 |
|
✗ |
g = _g; |
| 409 |
|
|
} |
| 410 |
|
✗ |
void set_Gx(const MatrixXs& _Gx) { |
| 411 |
|
✗ |
if (Gx.rows() != _Gx.rows() || Gx.cols() != _Gx.cols()) { |
| 412 |
|
✗ |
throw_pretty( |
| 413 |
|
|
"Invalid argument: " << "Gx has wrong dimension (it should be " + |
| 414 |
|
|
std::to_string(Gx.rows()) + ", " + |
| 415 |
|
|
std::to_string(Gx.cols()) + ")"); |
| 416 |
|
|
} |
| 417 |
|
✗ |
Gx = _Gx; |
| 418 |
|
|
} |
| 419 |
|
✗ |
void set_Gu(const MatrixXs& _Gu) { |
| 420 |
|
✗ |
if (Gu.rows() != _Gu.rows() || Gu.cols() != _Gu.cols()) { |
| 421 |
|
✗ |
throw_pretty( |
| 422 |
|
|
"Invalid argument: " << "Gu has wrong dimension (it should be " + |
| 423 |
|
|
std::to_string(Gu.rows()) + ", " + |
| 424 |
|
|
std::to_string(Gu.cols()) + ")"); |
| 425 |
|
|
} |
| 426 |
|
✗ |
Gu = _Gu; |
| 427 |
|
|
} |
| 428 |
|
✗ |
void set_h(const VectorXs& _h) { |
| 429 |
|
✗ |
if (h.size() != _h.size()) { |
| 430 |
|
✗ |
throw_pretty( |
| 431 |
|
|
"Invalid argument: " << "h has wrong dimension (it should be " + |
| 432 |
|
|
std::to_string(h.size()) + ")"); |
| 433 |
|
|
} |
| 434 |
|
✗ |
h = _h; |
| 435 |
|
|
} |
| 436 |
|
✗ |
void set_Hx(const MatrixXs& _Hx) { |
| 437 |
|
✗ |
if (Hx.rows() != _Hx.rows() || Hx.cols() != _Hx.cols()) { |
| 438 |
|
✗ |
throw_pretty( |
| 439 |
|
|
"Invalid argument: " << "Hx has wrong dimension (it should be " + |
| 440 |
|
|
std::to_string(Hx.rows()) + ", " + |
| 441 |
|
|
std::to_string(Hx.cols()) + ")"); |
| 442 |
|
|
} |
| 443 |
|
✗ |
Hx = _Hx; |
| 444 |
|
|
} |
| 445 |
|
✗ |
void set_Hu(const MatrixXs& _Hu) { |
| 446 |
|
✗ |
if (Hu.rows() != _Hu.rows() || Hu.cols() != _Hu.cols()) { |
| 447 |
|
✗ |
throw_pretty( |
| 448 |
|
|
"Invalid argument: " << "Hu has wrong dimension (it should be " + |
| 449 |
|
|
std::to_string(Hu.rows()) + ", " + |
| 450 |
|
|
std::to_string(Hu.cols()) + ")"); |
| 451 |
|
|
} |
| 452 |
|
✗ |
Hu = _Hu; |
| 453 |
|
|
} |
| 454 |
|
|
|
| 455 |
|
|
// Creates internal data in case we don't share it externally |
| 456 |
|
|
VectorXs g_internal; |
| 457 |
|
|
MatrixXs Gx_internal; |
| 458 |
|
|
MatrixXs Gu_internal; |
| 459 |
|
|
VectorXs h_internal; |
| 460 |
|
|
MatrixXs Hx_internal; |
| 461 |
|
|
MatrixXs Hu_internal; |
| 462 |
|
|
|
| 463 |
|
|
typename ConstraintModelManagerTpl<Scalar>::ConstraintDataContainer |
| 464 |
|
|
constraints; |
| 465 |
|
|
DataCollectorAbstract* shared; |
| 466 |
|
|
Eigen::Map<VectorXs> g; |
| 467 |
|
|
Eigen::Map<MatrixXs> Gx; |
| 468 |
|
|
Eigen::Map<MatrixXs> Gu; |
| 469 |
|
|
Eigen::Map<VectorXs> h; |
| 470 |
|
|
Eigen::Map<MatrixXs> Hx; |
| 471 |
|
|
Eigen::Map<MatrixXs> Hu; |
| 472 |
|
|
}; |
| 473 |
|
|
|
| 474 |
|
|
} // namespace crocoddyl |
| 475 |
|
|
|
| 476 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 477 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 478 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 479 |
|
|
#include "crocoddyl/core/constraints/constraint-manager.hxx" |
| 480 |
|
|
|
| 481 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ConstraintItemTpl) |
| 482 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ConstraintModelManagerTpl) |
| 483 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ConstraintDataManagerTpl) |
| 484 |
|
|
|
| 485 |
|
|
#endif // CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_ |
| 486 |
|
|
|