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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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namespace crocoddyl { |
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template <typename Scalar> |
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ConstraintModelManagerTpl<Scalar>::ConstraintModelManagerTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t nu) |
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: state_(state), |
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lb_(0), |
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ub_(0), |
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nu_(nu), |
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ng_(0), |
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nh_(0), |
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ng_T_(0), |
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nh_T_(0) {} |
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template <typename Scalar> |
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ConstraintModelManagerTpl<Scalar>::ConstraintModelManagerTpl( |
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std::shared_ptr<StateAbstract> state) |
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: state_(state), |
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lb_(0), |
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ub_(0), |
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nu_(state->get_nv()), |
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ng_(0), |
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nh_(0), |
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ng_T_(0), |
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nh_T_(0) {} |
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template <typename Scalar> |
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ConstraintModelManagerTpl<Scalar>::~ConstraintModelManagerTpl() {} |
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template <typename Scalar> |
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void ConstraintModelManagerTpl<Scalar>::addConstraint( |
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const std::string& name, |
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std::shared_ptr<ConstraintModelAbstract> constraint, const bool active) { |
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if (constraint->get_nu() != nu_) { |
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throw_pretty(name << " constraint item doesn't have the same control " |
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"dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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std::pair<typename ConstraintModelContainer::iterator, bool> ret = |
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constraints_.insert(std::make_pair( |
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name, std::make_shared<ConstraintItem>(name, constraint, active))); |
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if (ret.second == false) { |
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std::cout << "Warning: we couldn't add the " << name |
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<< " constraint item, it already existed." << std::endl; |
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} else if (active) { |
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ng_ += constraint->get_ng(); |
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nh_ += constraint->get_nh(); |
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if (constraint->get_T_constraint()) { |
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ng_T_ += constraint->get_ng(); |
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nh_T_ += constraint->get_nh(); |
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} |
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active_set_.insert(name); |
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lb_.resize(ng_); |
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ub_.resize(ng_); |
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} else if (!active) { |
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inactive_set_.insert(name); |
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} |
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} |
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template <typename Scalar> |
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void ConstraintModelManagerTpl<Scalar>::removeConstraint( |
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const std::string& name) { |
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typename ConstraintModelContainer::iterator it = constraints_.find(name); |
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if (it != constraints_.end()) { |
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if (it->second->active) { |
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ng_ -= it->second->constraint->get_ng(); |
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nh_ -= it->second->constraint->get_nh(); |
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if (it->second->constraint->get_T_constraint()) { |
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ng_T_ -= it->second->constraint->get_ng(); |
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nh_T_ -= it->second->constraint->get_nh(); |
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} |
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lb_.resize(ng_); |
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ub_.resize(ng_); |
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active_set_.erase(name); |
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} else { |
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inactive_set_.erase(name); |
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} |
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constraints_.erase(it); |
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} else { |
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std::cout << "Warning: we couldn't remove the " << name |
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<< " constraint item, it doesn't exist." << std::endl; |
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} |
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} |
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template <typename Scalar> |
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void ConstraintModelManagerTpl<Scalar>::changeConstraintStatus( |
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const std::string& name, bool active) { |
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typename ConstraintModelContainer::iterator it = constraints_.find(name); |
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if (it != constraints_.end()) { |
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if (active && !it->second->active) { |
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ng_ += it->second->constraint->get_ng(); |
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nh_ += it->second->constraint->get_nh(); |
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if (it->second->constraint->get_T_constraint()) { |
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ng_T_ += it->second->constraint->get_ng(); |
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nh_T_ += it->second->constraint->get_nh(); |
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} |
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active_set_.insert(name); |
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inactive_set_.erase(name); |
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it->second->active = active; |
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lb_.resize(ng_); |
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ub_.resize(ng_); |
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} else if (!active && it->second->active) { |
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ng_ -= it->second->constraint->get_ng(); |
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nh_ -= it->second->constraint->get_nh(); |
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if (it->second->constraint->get_T_constraint()) { |
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ng_T_ -= it->second->constraint->get_ng(); |
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nh_T_ -= it->second->constraint->get_nh(); |
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} |
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active_set_.erase(name); |
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inactive_set_.insert(name); |
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it->second->active = active; |
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lb_.resize(ng_); |
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ub_.resize(ng_); |
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} |
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} else { |
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std::cout << "Warning: we couldn't change the status of the " << name |
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<< " constraint item, it doesn't exist." << std::endl; |
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} |
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} |
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template <typename Scalar> |
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void ConstraintModelManagerTpl<Scalar>::calc( |
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const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (data->constraints.size() != constraints_.size()) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "it doesn't match the number of constraint datas and models"); |
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} |
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assert_pretty(static_cast<std::size_t>(data->g.size()) == ng_, |
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"the dimension of data.g doesn't correspond with ng=" << ng_); |
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assert_pretty(static_cast<std::size_t>(data->h.size()) == nh_, |
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"the dimension of data.h doesn't correspond with nh=" << nh_); |
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std::size_t ng_i = 0; |
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std::size_t nh_i = 0; |
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typename ConstraintModelContainer::iterator it_m, end_m; |
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typename ConstraintDataContainer::iterator it_d, end_d; |
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for (it_m = constraints_.begin(), end_m = constraints_.end(), |
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it_d = data->constraints.begin(), end_d = data->constraints.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ConstraintItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<ConstraintDataAbstract>& d_i = it_d->second; |
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assert_pretty( |
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it_m->first == it_d->first, |
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"it doesn't match the constraint name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->constraint->calc(d_i, x, u); |
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const std::size_t ng = m_i->constraint->get_ng(); |
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const std::size_t nh = m_i->constraint->get_nh(); |
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data->g.segment(ng_i, ng) = d_i->g; |
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data->h.segment(nh_i, nh) = d_i->h; |
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lb_.segment(ng_i, ng) = m_i->constraint->get_lb(); |
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ub_.segment(ng_i, ng) = m_i->constraint->get_ub(); |
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ng_i += ng; |
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nh_i += nh; |
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} |
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} |
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} |
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template <typename Scalar> |
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void ConstraintModelManagerTpl<Scalar>::calc( |
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const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (data->constraints.size() != constraints_.size()) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "it doesn't match the number of constraint datas and models"); |
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} |
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assert_pretty(static_cast<std::size_t>(data->g.size()) == ng_T_, |
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"the dimension of data.g doesn't correspond with ng=" << ng_T_); |
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assert_pretty(static_cast<std::size_t>(data->h.size()) == nh_T_, |
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"the dimension of data.h doesn't correspond with nh=" << nh_T_); |
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std::size_t ng_i = 0; |
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std::size_t nh_i = 0; |
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typename ConstraintModelContainer::iterator it_m, end_m; |
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typename ConstraintDataContainer::iterator it_d, end_d; |
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for (it_m = constraints_.begin(), end_m = constraints_.end(), |
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it_d = data->constraints.begin(), end_d = data->constraints.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ConstraintItem>& m_i = it_m->second; |
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if (m_i->active && m_i->constraint->get_T_constraint()) { |
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const std::shared_ptr<ConstraintDataAbstract>& d_i = it_d->second; |
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assert_pretty( |
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it_m->first == it_d->first, |
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"it doesn't match the constraint name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->constraint->calc(d_i, x); |
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const std::size_t ng = m_i->constraint->get_ng(); |
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const std::size_t nh = m_i->constraint->get_nh(); |
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data->g.segment(ng_i, ng) = d_i->g; |
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data->h.segment(nh_i, nh) = d_i->h; |
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lb_.segment(ng_i, ng) = m_i->constraint->get_lb(); |
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ub_.segment(ng_i, ng) = m_i->constraint->get_ub(); |
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ng_i += ng; |
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nh_i += nh; |
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} |
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} |
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} |
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template <typename Scalar> |
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void ConstraintModelManagerTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (data->constraints.size() != constraints_.size()) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "it doesn't match the number of constraint datas and models"); |
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} |
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assert_pretty(static_cast<std::size_t>(data->Gx.rows()) == ng_, |
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"the dimension of data.Gx doesn't correspond with ng=" << ng_); |
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assert_pretty(static_cast<std::size_t>(data->Gu.rows()) == ng_, |
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"the dimension of data.Gu doesn't correspond with ng=" << ng_); |
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assert_pretty( |
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static_cast<std::size_t>(data->Hx.rows()) == nh_, |
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"the dimension of data.Hx,u doesn't correspond with nh=" << nh_); |
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const std::size_t ndx = state_->get_ndx(); |
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std::size_t ng_i = 0; |
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std::size_t nh_i = 0; |
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|
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typename ConstraintModelContainer::iterator it_m, end_m; |
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typename ConstraintDataContainer::iterator it_d, end_d; |
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for (it_m = constraints_.begin(), end_m = constraints_.end(), |
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it_d = data->constraints.begin(), end_d = data->constraints.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<ConstraintItem>& m_i = it_m->second; |
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✗ |
if (m_i->active) { |
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const std::shared_ptr<ConstraintDataAbstract>& d_i = it_d->second; |
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assert_pretty( |
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it_m->first == it_d->first, |
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"it doesn't match the constraint name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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|
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m_i->constraint->calcDiff(d_i, x, u); |
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const std::size_t ng = m_i->constraint->get_ng(); |
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const std::size_t nh = m_i->constraint->get_nh(); |
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data->Gx.block(ng_i, 0, ng, ndx) = d_i->Gx; |
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data->Gu.block(ng_i, 0, ng, nu_) = d_i->Gu; |
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data->Hx.block(nh_i, 0, nh, ndx) = d_i->Hx; |
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✗ |
data->Hu.block(nh_i, 0, nh, nu_) = d_i->Hu; |
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ng_i += ng; |
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nh_i += nh; |
| 280 |
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} |
| 281 |
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} |
| 282 |
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} |
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|
| 284 |
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template <typename Scalar> |
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|
✗ |
void ConstraintModelManagerTpl<Scalar>::calcDiff( |
| 286 |
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const std::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
| 288 |
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✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 289 |
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✗ |
throw_pretty( |
| 290 |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
| 291 |
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std::to_string(state_->get_nx()) + ")"); |
| 292 |
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} |
| 293 |
|
✗ |
if (data->constraints.size() != constraints_.size()) { |
| 294 |
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✗ |
throw_pretty( |
| 295 |
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"Invalid argument: " |
| 296 |
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<< "it doesn't match the number of constraint datas and models"); |
| 297 |
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} |
| 298 |
|
✗ |
assert_pretty( |
| 299 |
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static_cast<std::size_t>(data->Gx.rows()) == ng_T_, |
| 300 |
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"the dimension of data.Gx,u doesn't correspond with ng=" << ng_T_); |
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|
✗ |
assert_pretty( |
| 302 |
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static_cast<std::size_t>(data->Hx.rows()) == nh_T_, |
| 303 |
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"the dimension of data.Hx,u doesn't correspond with nh=" << nh_T_); |
| 304 |
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✗ |
const std::size_t ndx = state_->get_ndx(); |
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✗ |
std::size_t ng_i = 0; |
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✗ |
std::size_t nh_i = 0; |
| 307 |
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|
| 308 |
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✗ |
typename ConstraintModelContainer::iterator it_m, end_m; |
| 309 |
|
✗ |
typename ConstraintDataContainer::iterator it_d, end_d; |
| 310 |
|
✗ |
for (it_m = constraints_.begin(), end_m = constraints_.end(), |
| 311 |
|
✗ |
it_d = data->constraints.begin(), end_d = data->constraints.end(); |
| 312 |
|
✗ |
it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
| 313 |
|
✗ |
const std::shared_ptr<ConstraintItem>& m_i = it_m->second; |
| 314 |
|
✗ |
if (m_i->active && m_i->constraint->get_T_constraint()) { |
| 315 |
|
✗ |
const std::shared_ptr<ConstraintDataAbstract>& d_i = it_d->second; |
| 316 |
|
✗ |
assert_pretty( |
| 317 |
|
|
it_m->first == it_d->first, |
| 318 |
|
|
"it doesn't match the constraint name between model and data (" |
| 319 |
|
|
<< it_m->first << " != " << it_d->first << ")"); |
| 320 |
|
|
|
| 321 |
|
✗ |
m_i->constraint->calcDiff(d_i, x); |
| 322 |
|
✗ |
const std::size_t ng = m_i->constraint->get_ng(); |
| 323 |
|
✗ |
const std::size_t nh = m_i->constraint->get_nh(); |
| 324 |
|
✗ |
data->Gx.block(ng_i, 0, ng, ndx) = d_i->Gx; |
| 325 |
|
✗ |
data->Hx.block(nh_i, 0, nh, ndx) = d_i->Hx; |
| 326 |
|
✗ |
ng_i += ng; |
| 327 |
|
✗ |
nh_i += nh; |
| 328 |
|
|
} |
| 329 |
|
|
} |
| 330 |
|
|
} |
| 331 |
|
|
|
| 332 |
|
|
template <typename Scalar> |
| 333 |
|
|
std::shared_ptr<ConstraintDataManagerTpl<Scalar> > |
| 334 |
|
✗ |
ConstraintModelManagerTpl<Scalar>::createData( |
| 335 |
|
|
DataCollectorAbstract* const data) { |
| 336 |
|
|
return std::allocate_shared<ConstraintDataManager>( |
| 337 |
|
✗ |
Eigen::aligned_allocator<ConstraintDataManager>(), this, data); |
| 338 |
|
|
} |
| 339 |
|
|
|
| 340 |
|
|
template <typename Scalar> |
| 341 |
|
|
template <typename NewScalar> |
| 342 |
|
✗ |
ConstraintModelManagerTpl<NewScalar> ConstraintModelManagerTpl<Scalar>::cast() |
| 343 |
|
|
const { |
| 344 |
|
|
typedef ConstraintModelManagerTpl<NewScalar> ReturnType; |
| 345 |
|
|
typedef ConstraintItemTpl<NewScalar> ConstraintType; |
| 346 |
|
✗ |
ReturnType ret(state_->template cast<NewScalar>(), nu_); |
| 347 |
|
✗ |
typename ConstraintModelContainer::const_iterator it_m, end_m; |
| 348 |
|
✗ |
for (it_m = constraints_.begin(), end_m = constraints_.end(); it_m != end_m; |
| 349 |
|
✗ |
++it_m) { |
| 350 |
|
✗ |
const std::string name = it_m->first; |
| 351 |
|
✗ |
const ConstraintType& m_i = it_m->second->template cast<NewScalar>(); |
| 352 |
|
✗ |
ret.addConstraint(name, m_i.constraint, m_i.active); |
| 353 |
|
|
} |
| 354 |
|
✗ |
return ret; |
| 355 |
|
|
} |
| 356 |
|
|
|
| 357 |
|
|
template <typename Scalar> |
| 358 |
|
|
const std::shared_ptr<StateAbstractTpl<Scalar> >& |
| 359 |
|
✗ |
ConstraintModelManagerTpl<Scalar>::get_state() const { |
| 360 |
|
✗ |
return state_; |
| 361 |
|
|
} |
| 362 |
|
|
|
| 363 |
|
|
template <typename Scalar> |
| 364 |
|
|
const typename ConstraintModelManagerTpl<Scalar>::ConstraintModelContainer& |
| 365 |
|
✗ |
ConstraintModelManagerTpl<Scalar>::get_constraints() const { |
| 366 |
|
✗ |
return constraints_; |
| 367 |
|
|
} |
| 368 |
|
|
|
| 369 |
|
|
template <typename Scalar> |
| 370 |
|
✗ |
std::size_t ConstraintModelManagerTpl<Scalar>::get_nu() const { |
| 371 |
|
✗ |
return nu_; |
| 372 |
|
|
} |
| 373 |
|
|
|
| 374 |
|
|
template <typename Scalar> |
| 375 |
|
✗ |
std::size_t ConstraintModelManagerTpl<Scalar>::get_ng() const { |
| 376 |
|
✗ |
return ng_; |
| 377 |
|
|
} |
| 378 |
|
|
|
| 379 |
|
|
template <typename Scalar> |
| 380 |
|
✗ |
std::size_t ConstraintModelManagerTpl<Scalar>::get_nh() const { |
| 381 |
|
✗ |
return nh_; |
| 382 |
|
|
} |
| 383 |
|
|
|
| 384 |
|
|
template <typename Scalar> |
| 385 |
|
✗ |
std::size_t ConstraintModelManagerTpl<Scalar>::get_ng_T() const { |
| 386 |
|
✗ |
return ng_T_; |
| 387 |
|
|
} |
| 388 |
|
|
|
| 389 |
|
|
template <typename Scalar> |
| 390 |
|
✗ |
std::size_t ConstraintModelManagerTpl<Scalar>::get_nh_T() const { |
| 391 |
|
✗ |
return nh_T_; |
| 392 |
|
|
} |
| 393 |
|
|
|
| 394 |
|
|
template <typename Scalar> |
| 395 |
|
✗ |
const std::set<std::string>& ConstraintModelManagerTpl<Scalar>::get_active_set() |
| 396 |
|
|
const { |
| 397 |
|
✗ |
return active_set_; |
| 398 |
|
|
} |
| 399 |
|
|
|
| 400 |
|
|
template <typename Scalar> |
| 401 |
|
|
const std::set<std::string>& |
| 402 |
|
✗ |
ConstraintModelManagerTpl<Scalar>::get_inactive_set() const { |
| 403 |
|
✗ |
return inactive_set_; |
| 404 |
|
|
} |
| 405 |
|
|
|
| 406 |
|
|
template <typename Scalar> |
| 407 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 408 |
|
✗ |
ConstraintModelManagerTpl<Scalar>::get_lb() const { |
| 409 |
|
✗ |
return lb_; |
| 410 |
|
|
} |
| 411 |
|
|
|
| 412 |
|
|
template <typename Scalar> |
| 413 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 414 |
|
✗ |
ConstraintModelManagerTpl<Scalar>::get_ub() const { |
| 415 |
|
✗ |
return ub_; |
| 416 |
|
|
} |
| 417 |
|
|
|
| 418 |
|
|
template <typename Scalar> |
| 419 |
|
✗ |
bool ConstraintModelManagerTpl<Scalar>::getConstraintStatus( |
| 420 |
|
|
const std::string& name) const { |
| 421 |
|
|
typename ConstraintModelContainer::const_iterator it = |
| 422 |
|
✗ |
constraints_.find(name); |
| 423 |
|
✗ |
if (it != constraints_.end()) { |
| 424 |
|
✗ |
return it->second->active; |
| 425 |
|
|
} else { |
| 426 |
|
|
std::cout << "Warning: we couldn't get the status of the " << name |
| 427 |
|
✗ |
<< " constraint item, it doesn't exist." << std::endl; |
| 428 |
|
✗ |
return false; |
| 429 |
|
|
} |
| 430 |
|
|
} |
| 431 |
|
|
|
| 432 |
|
|
template <typename Scalar> |
| 433 |
|
✗ |
std::ostream& operator<<(std::ostream& os, |
| 434 |
|
|
const ConstraintModelManagerTpl<Scalar>& model) { |
| 435 |
|
✗ |
const std::set<std::string>& active = model.get_active_set(); |
| 436 |
|
✗ |
const std::set<std::string>& inactive = model.get_inactive_set(); |
| 437 |
|
✗ |
os << "ConstraintModelManagerTpl:" << std::endl; |
| 438 |
|
✗ |
os << " Active:" << std::endl; |
| 439 |
|
✗ |
for (std::set<std::string>::const_iterator it = active.begin(); |
| 440 |
|
✗ |
it != active.end(); ++it) { |
| 441 |
|
|
const std::shared_ptr< |
| 442 |
|
|
typename ConstraintModelManagerTpl<Scalar>::ConstraintItem>& |
| 443 |
|
✗ |
constraint_item = model.get_constraints().find(*it)->second; |
| 444 |
|
✗ |
if (it != --active.end()) { |
| 445 |
|
✗ |
os << " " << *it << ": " << *constraint_item << std::endl; |
| 446 |
|
|
} else { |
| 447 |
|
✗ |
os << " " << *it << ": " << *constraint_item << std::endl; |
| 448 |
|
|
} |
| 449 |
|
|
} |
| 450 |
|
✗ |
os << " Inactive:" << std::endl; |
| 451 |
|
✗ |
for (std::set<std::string>::const_iterator it = inactive.begin(); |
| 452 |
|
✗ |
it != inactive.end(); ++it) { |
| 453 |
|
|
const std::shared_ptr< |
| 454 |
|
|
typename ConstraintModelManagerTpl<Scalar>::ConstraintItem>& |
| 455 |
|
✗ |
constraint_item = model.get_constraints().find(*it)->second; |
| 456 |
|
✗ |
if (it != --inactive.end()) { |
| 457 |
|
✗ |
os << " " << *it << ": " << *constraint_item << std::endl; |
| 458 |
|
|
} else { |
| 459 |
|
✗ |
os << " " << *it << ": " << *constraint_item; |
| 460 |
|
|
} |
| 461 |
|
|
} |
| 462 |
|
✗ |
return os; |
| 463 |
|
|
} |
| 464 |
|
|
|
| 465 |
|
|
} // namespace crocoddyl |
| 466 |
|
|
|