| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | namespace crocoddyl { | ||
| 10 | |||
| 11 | template <typename Scalar> | ||
| 12 | ✗ | ConstraintModelResidualTpl<Scalar>::ConstraintModelResidualTpl( | |
| 13 | std::shared_ptr<typename Base::StateAbstract> state, | ||
| 14 | std::shared_ptr<ResidualModelAbstract> residual, const VectorXs& lower, | ||
| 15 | const VectorXs& upper, const bool T_act) | ||
| 16 | ✗ | : Base(state, residual, residual->get_nr(), 0) { | |
| 17 | ✗ | lb_ = lower; | |
| 18 | ✗ | ub_ = upper; | |
| 19 | ✗ | for (std::size_t i = 0; i < residual_->get_nr(); ++i) { | |
| 20 | ✗ | if (isfinite(lb_(i)) && isfinite(ub_(i))) { | |
| 21 | ✗ | if (lb_(i) - ub_(i) > Scalar(0.)) { | |
| 22 | ✗ | throw_pretty( | |
| 23 | "Invalid argument: the upper bound is not equal to / higher than " | ||
| 24 | "the lower bound.") | ||
| 25 | } | ||
| 26 | } | ||
| 27 | } | ||
| 28 | ✗ | if ((lb_.array() == std::numeric_limits<Scalar>::infinity()).any() || | |
| 29 | ✗ | (lb_.array() == std::numeric_limits<Scalar>::max()).any()) { | |
| 30 | ✗ | throw_pretty( | |
| 31 | "Invalid argument: the lower bound cannot contain a positive " | ||
| 32 | "infinity/max value"); | ||
| 33 | } | ||
| 34 | ✗ | if ((ub_.array() == -std::numeric_limits<Scalar>::infinity()).any() || | |
| 35 | ✗ | (ub_.array() == -std::numeric_limits<Scalar>::infinity()).any()) { | |
| 36 | ✗ | throw_pretty( | |
| 37 | "Invalid argument: the lower bound cannot contain a negative " | ||
| 38 | "infinity/max value"); | ||
| 39 | } | ||
| 40 | ✗ | if (!T_act) { | |
| 41 | ✗ | T_constraint_ = false; | |
| 42 | } | ||
| 43 | ✗ | } | |
| 44 | |||
| 45 | template <typename Scalar> | ||
| 46 | ✗ | ConstraintModelResidualTpl<Scalar>::ConstraintModelResidualTpl( | |
| 47 | std::shared_ptr<typename Base::StateAbstract> state, | ||
| 48 | std::shared_ptr<ResidualModelAbstract> residual, const bool T_act) | ||
| 49 | ✗ | : Base(state, residual, 0, residual->get_nr()) { | |
| 50 | ✗ | if (!T_act) { | |
| 51 | ✗ | T_constraint_ = false; | |
| 52 | } | ||
| 53 | ✗ | } | |
| 54 | |||
| 55 | template <typename Scalar> | ||
| 56 | ✗ | void ConstraintModelResidualTpl<Scalar>::calc( | |
| 57 | const std::shared_ptr<ConstraintDataAbstract>& data, | ||
| 58 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { | ||
| 59 | // Compute the constraint residual | ||
| 60 | ✗ | residual_->calc(data->residual, x, u); | |
| 61 | |||
| 62 | // Fill the residual values for its corresponding type of constraint | ||
| 63 | ✗ | updateCalc(data); | |
| 64 | ✗ | } | |
| 65 | |||
| 66 | template <typename Scalar> | ||
| 67 | ✗ | void ConstraintModelResidualTpl<Scalar>::calc( | |
| 68 | const std::shared_ptr<ConstraintDataAbstract>& data, | ||
| 69 | const Eigen::Ref<const VectorXs>& x) { | ||
| 70 | // Compute the constraint residual | ||
| 71 | ✗ | residual_->calc(data->residual, x); | |
| 72 | |||
| 73 | // Fill the residual values for its corresponding type of constraint | ||
| 74 | ✗ | updateCalc(data); | |
| 75 | ✗ | } | |
| 76 | |||
| 77 | template <typename Scalar> | ||
| 78 | ✗ | void ConstraintModelResidualTpl<Scalar>::calcDiff( | |
| 79 | const std::shared_ptr<ConstraintDataAbstract>& data, | ||
| 80 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { | ||
| 81 | // Compute the derivatives of the residual function | ||
| 82 | ✗ | residual_->calcDiff(data->residual, x, u); | |
| 83 | |||
| 84 | // Fill the residual values for its corresponding type of constraint | ||
| 85 | ✗ | updateCalcDiff(data); | |
| 86 | ✗ | } | |
| 87 | |||
| 88 | template <typename Scalar> | ||
| 89 | ✗ | void ConstraintModelResidualTpl<Scalar>::calcDiff( | |
| 90 | const std::shared_ptr<ConstraintDataAbstract>& data, | ||
| 91 | const Eigen::Ref<const VectorXs>& x) { | ||
| 92 | // Compute the derivatives of the residual function | ||
| 93 | ✗ | residual_->calcDiff(data->residual, x); | |
| 94 | |||
| 95 | // Fill the residual values for its corresponding type of constraint | ||
| 96 | ✗ | updateCalcDiff(data); | |
| 97 | ✗ | } | |
| 98 | |||
| 99 | template <typename Scalar> | ||
| 100 | std::shared_ptr<ConstraintDataAbstractTpl<Scalar> > | ||
| 101 | ✗ | ConstraintModelResidualTpl<Scalar>::createData( | |
| 102 | DataCollectorAbstract* const data) { | ||
| 103 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 104 | ✗ | data); | |
| 105 | } | ||
| 106 | |||
| 107 | template <typename Scalar> | ||
| 108 | ✗ | void ConstraintModelResidualTpl<Scalar>::updateCalc( | |
| 109 | const std::shared_ptr<ConstraintDataAbstract>& data) { | ||
| 110 | ✗ | switch (type_) { | |
| 111 | ✗ | case ConstraintType::Inequality: | |
| 112 | ✗ | data->g = data->residual->r; | |
| 113 | ✗ | break; | |
| 114 | ✗ | case ConstraintType::Equality: | |
| 115 | ✗ | data->h = data->residual->r; | |
| 116 | ✗ | break; | |
| 117 | ✗ | case ConstraintType::Both: // this condition is not supported and possible | |
| 118 | ✗ | break; | |
| 119 | } | ||
| 120 | ✗ | } | |
| 121 | |||
| 122 | template <typename Scalar> | ||
| 123 | ✗ | void ConstraintModelResidualTpl<Scalar>::updateCalcDiff( | |
| 124 | const std::shared_ptr<ConstraintDataAbstract>& data) { | ||
| 125 | ✗ | const bool is_rq = residual_->get_q_dependent(); | |
| 126 | ✗ | const bool is_rv = residual_->get_v_dependent(); | |
| 127 | ✗ | const bool is_ru = residual_->get_u_dependent() || nu_ == 0; | |
| 128 | ✗ | switch (type_) { | |
| 129 | ✗ | case ConstraintType::Inequality: | |
| 130 | ✗ | if (is_rq && is_rv) { | |
| 131 | ✗ | data->Gx = data->residual->Rx; | |
| 132 | ✗ | } else if (is_rq) { | |
| 133 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 134 | ✗ | data->Gx.leftCols(nv) = data->residual->Rx.leftCols(nv); | |
| 135 | ✗ | data->Gx.rightCols(nv).setZero(); | |
| 136 | ✗ | } else if (is_rv) { | |
| 137 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 138 | ✗ | data->Gx.leftCols(nv).setZero(); | |
| 139 | ✗ | data->Gx.rightCols(nv) = data->residual->Rx.rightCols(nv); | |
| 140 | } | ||
| 141 | ✗ | if (is_ru) { | |
| 142 | ✗ | data->Gu = data->residual->Ru; | |
| 143 | } | ||
| 144 | ✗ | break; | |
| 145 | ✗ | case ConstraintType::Equality: | |
| 146 | ✗ | if (is_rq && is_rv) { | |
| 147 | ✗ | data->Hx = data->residual->Rx; | |
| 148 | ✗ | } else if (is_rq) { | |
| 149 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 150 | ✗ | data->Hx.leftCols(nv) = data->residual->Rx.leftCols(nv); | |
| 151 | ✗ | data->Hx.rightCols(nv).setZero(); | |
| 152 | ✗ | } else if (is_rv) { | |
| 153 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 154 | ✗ | data->Hx.leftCols(nv).setZero(); | |
| 155 | ✗ | data->Hx.rightCols(nv) = data->residual->Rx.rightCols(nv); | |
| 156 | } | ||
| 157 | ✗ | if (is_ru) { | |
| 158 | ✗ | data->Hu = data->residual->Ru; | |
| 159 | } | ||
| 160 | ✗ | break; | |
| 161 | ✗ | case ConstraintType::Both: // this condition is not supported and possible | |
| 162 | ✗ | break; | |
| 163 | } | ||
| 164 | ✗ | } | |
| 165 | |||
| 166 | template <typename Scalar> | ||
| 167 | template <typename NewScalar> | ||
| 168 | ✗ | ConstraintModelResidualTpl<NewScalar> ConstraintModelResidualTpl<Scalar>::cast() | |
| 169 | const { | ||
| 170 | typedef ConstraintModelResidualTpl<NewScalar> ReturnType; | ||
| 171 | ✗ | if (type_ == ConstraintType::Inequality) { | |
| 172 | ✗ | ReturnType ret(state_->template cast<NewScalar>(), | |
| 173 | ✗ | residual_->template cast<NewScalar>(), | |
| 174 | ✗ | lb_.template cast<NewScalar>(), | |
| 175 | ✗ | ub_.template cast<NewScalar>(), T_constraint_); | |
| 176 | ✗ | return ret; | |
| 177 | ✗ | } else { | |
| 178 | ✗ | ReturnType ret(state_->template cast<NewScalar>(), | |
| 179 | ✗ | residual_->template cast<NewScalar>(), T_constraint_); | |
| 180 | ✗ | return ret; | |
| 181 | ✗ | } | |
| 182 | } | ||
| 183 | |||
| 184 | template <typename Scalar> | ||
| 185 | ✗ | void ConstraintModelResidualTpl<Scalar>::print(std::ostream& os) const { | |
| 186 | ✗ | os << "ConstraintModelResidual {" << *residual_ << "}"; | |
| 187 | ✗ | } | |
| 188 | |||
| 189 | } // namespace crocoddyl | ||
| 190 |