GCC Code Coverage Report

Directory: ./
File: bindings/python/algorithm/admm-solver.cpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 97 116 83.6%
Branches: 160 336 47.6%
Line Branch Exec Source
1 //
2 // Copyright (c) 2024 INRIA
3 //
4
5 #include <eigenpy/memory.hpp>
6 #include <eigenpy/eigen-from-python.hpp>
7 #include <eigenpy/eigen-to-python.hpp>
8
9 #include "pinocchio/bindings/python/fwd.hpp"
10
11 #include "pinocchio/algorithm/admm-solver.hpp"
12 #include "pinocchio/algorithm/contact-cholesky.hpp"
13 #include "pinocchio/algorithm/delassus-operator-dense.hpp"
14 #include "pinocchio/algorithm/delassus-operator-sparse.hpp"
15
16 #include "pinocchio/bindings/python/algorithm/contact-solver-base.hpp"
17 #include "pinocchio/bindings/python/utils/std-vector.hpp"
18 #include "pinocchio/bindings/python/utils/macros.hpp"
19
20 namespace pinocchio
21 {
22 namespace python
23 {
24 namespace bp = boost::python;
25
26 typedef ADMMContactSolverTpl<context::Scalar> Solver;
27 typedef Solver::PowerIterationAlgo PowerIterationAlgo;
28 typedef Solver::SolverStats SolverStats;
29 typedef context::Scalar Scalar;
30 typedef context::VectorXs VectorXs;
31 typedef const Eigen::Ref<const VectorXs> ConstRefVectorXs;
32 typedef ContactCholeskyDecompositionTpl<context::Scalar, context::Options>
33 ContactCholeskyDecomposition;
34
35 #ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
36
37 template<typename DelassusDerived>
38 ✗ static bool solve_wrapper(
39 Solver & solver,
40 DelassusDerived & delassus,
41 const context::VectorXs & g,
42 const context::CoulombFrictionConeVector & cones,
43 const context::VectorXs & R,
44 const boost::optional<ConstRefVectorXs> primal_solution = boost::none,
45 const boost::optional<ConstRefVectorXs> dual_solution = boost::none,
46 bool compute_largest_eigen_values = true,
47 bool stat_record = false)
48 {
49 ✗ return solver.solve(
50 delassus, g, cones, R, primal_solution, dual_solution, compute_largest_eigen_values,
51 ✗ stat_record);
52 }
53
54 template<typename DelassusDerived>
55 static bool solve_wrapper2(
56 Solver & solver,
57 DelassusDerived & delassus,
58 const context::VectorXs & g,
59 const context::CoulombFrictionConeVector & cones,
60 Eigen::Ref<context::VectorXs> x)
61 {
62 return solver.solve(delassus, g, cones, x);
63 }
64 #endif
65
66 #ifndef PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED
67
68 ✗ static context::VectorXs computeConeProjection_wrapper(
69 const context::CoulombFrictionConeVector & cones, const context::VectorXs & forces)
70 {
71 ✗ context::VectorXs res(forces.size());
72 ✗ ::pinocchio::internal::computeConeProjection(cones, forces, res);
73 ✗ return res;
74 }
75
76 ✗ static context::VectorXs computeDualConeProjection_wrapper(
77 const context::CoulombFrictionConeVector & cones, const context::VectorXs & velocities)
78 {
79 ✗ context::VectorXs res(velocities.size());
80 ✗ ::pinocchio::internal::computeDualConeProjection(cones, velocities, res);
81 ✗ return res;
82 }
83
84 ✗ static context::Scalar computePrimalFeasibility_wrapper(
85 const context::CoulombFrictionConeVector & cones, const context::VectorXs & forces)
86 {
87 ✗ return ::pinocchio::internal::computePrimalFeasibility(cones, forces);
88 }
89
90 ✗ static context::Scalar computeReprojectionError_wrapper(
91 const context::CoulombFrictionConeVector & cones,
92 const context::VectorXs & forces,
93 const context::VectorXs & velocities)
94 {
95 ✗ return ::pinocchio::internal::computeReprojectionError(cones, forces, velocities);
96 }
97
98 ✗ static context::VectorXs computeComplementarityShift_wrapper(
99 const context::CoulombFrictionConeVector & cones, const context::VectorXs & velocities)
100 {
101 ✗ context::VectorXs res(velocities.size());
102 ✗ ::pinocchio::internal::computeComplementarityShift(cones, velocities, res);
103 ✗ return res;
104 }
105 #endif // PINOCCHIO_PYTHON_SKIP_CASADI_UNSUPPORTED
106
107 69 void exposeADMMContactSolver()
108 {
109 #ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE
110 bp::class_<Solver> cl(
111 "ADMMContactSolver",
112 "Alternating Direction Method of Multi-pliers solver for contact dynamics.",
113
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 130 bp::init<int, Scalar, Scalar, Scalar, Scalar, Scalar, int>(
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 195 (bp::arg("self"), bp::arg("problem_dim"), bp::arg("mu_prox") = Scalar(1e-6),
115
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 260 bp::arg("tau") = Scalar(0.5), bp::arg("rho_power") = Scalar(0.2),
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 260 bp::arg("rho_power_factor") = Scalar(0.05), bp::arg("ratio_primal_dual") = Scalar(10),
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 130 bp::arg("max_it_largest_eigen_value_solver") = 20),
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 65 "Default constructor."));
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 65 cl.def(ContactSolverBasePythonVisitor<Solver>())
120
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 65 .def(
122 "solve", solve_wrapper<ContactCholeskyDecomposition::DelassusCholeskyExpression>,
123
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 65 (bp::args("self", "delassus", "g", "cones", "R"),
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 130 bp::arg("primal_solution") = boost::none, bp::arg("dual_solution") = boost::none,
125
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 130 bp::arg("compute_largest_eigen_values") = true, bp::arg("stat_record") = false),
126 "Solve the constrained conic problem, starting from the optional initial guess.")
127
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 65 .def(
128 "solve", solve_wrapper<context::DelassusOperatorDense>,
129
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 130 (bp::args("self", "delassus", "g", "cones", "R"),
130
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 130 bp::arg("primal_solution") = boost::none, bp::arg("dual_solution") = boost::none,
131
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 130 bp::arg("compute_largest_eigen_values") = true, bp::arg("stat_record") = false),
132 "Solve the constrained conic problem, starting from the optional initial guess.")
133
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 65 .def(
134 "solve", solve_wrapper<context::DelassusOperatorSparse>,
135
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 130 (bp::args("self", "delassus", "g", "cones", "R"),
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 130 bp::arg("primal_solution") = boost::none, bp::arg("dual_solution") = boost::none,
137
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 130 bp::arg("compute_largest_eigen_values") = true, bp::arg("stat_record") = false),
138 "Solve the constrained conic problem, starting from the optional initial guess.")
139
140
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 130 .def("setRho", &Solver::setRho, bp::args("self", "rho"), "Set the ADMM penalty value.")
141
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 130 .def("getRho", &Solver::getRho, bp::arg("self"), "Get the ADMM penalty value.")
142
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 65 .def(
144
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 130 "setRhoPower", &Solver::setRhoPower, bp::args("self", "rho_power"),
145 "Set the power associated to the problem conditionning.")
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 65 .def(
147
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 130 "getRhoPower", &Solver::getRhoPower, bp::arg("self"),
148 "Get the power associated to the problem conditionning.")
149
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 65 .def(
151
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 130 "setRhoPowerFactor", &Solver::setRhoPowerFactor, bp::args("self", "rho_power_factor"),
152 "Set the power factor associated to the problem conditionning.")
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 65 .def(
154
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 130 "getRhoPowerFactor", &Solver::getRhoPowerFactor, bp::arg("self"),
155 "Get the power factor associated to the problem conditionning.")
156
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 65 .def(
158
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 130 "setTau", &Solver::setTau, bp::args("self", "tau"), "Set the tau linear scaling factor.")
159
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 130 .def("getTau", &Solver::getTau, bp::arg("self"), "Get the tau linear scaling factor.")
160
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 65 .def(
162
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 130 "setProximalValue", &Solver::setProximalValue, bp::args("self", "mu"),
163 "Set the proximal value.")
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 65 .def(
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 130 "getProximalValue", &Solver::getProximalValue, bp::arg("self"), "Get the proximal value.")
166
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 65 .def(
168
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 130 "setRatioPrimalDual", &Solver::setRatioPrimalDual, bp::args("self", "ratio_primal_dual"),
169 "Set the primal/dual ratio.")
170
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 65 .def(
171
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 130 "getRatioPrimalDual", &Solver::getRatioPrimalDual, bp::arg("self"),
172 "Get the primal/dual ratio.")
173
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 65 .def(
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 65 "getPrimalSolution", &Solver::getPrimalSolution, bp::arg("self"),
176 65 "Returns the primal solution of the problem.", bp::return_internal_reference<>())
177
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 65 .def(
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 65 "getDualSolution", &Solver::getDualSolution, bp::arg("self"),
180 65 "Returns the dual solution of the problem.", bp::return_internal_reference<>())
181
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 65 .def(
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 130 "getCholeskyUpdateCount", &Solver::getCholeskyUpdateCount, bp::arg("self"),
184 "Returns the number of updates of the Cholesky factorization due to rho updates.")
185
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 65 .def(
187
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 130 "computeRho", &Solver::computeRho, bp::args("L", "m", "rho_power"),
188 "Compute the penalty ADMM value from the current largest and lowest eigenvalues and "
189 "the scaling spectral factor.")
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 65 .staticmethod("computeRho")
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 65 .def(
192
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 130 "computeRhoPower", &Solver::computeRhoPower, bp::args("L", "m", "rho"),
193 "Compute the scaling spectral factor of the ADMM penalty term from the current "
194 "largest and lowest eigenvalues and the ADMM penalty term.")
195
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 65 .staticmethod("computeRhoPower")
196
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 65 .def(
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199 65 bp::return_internal_reference<>())
200
201
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 65 .def("getStats", &Solver::getStats, bp::arg("self"), bp::return_internal_reference<>());
202
203 #ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
204 {
205 typedef Eigen::AccelerateLLT<context::SparseMatrix> AccelerateLLT;
206 typedef DelassusOperatorSparseTpl<context::Scalar, context::Options, AccelerateLLT>
207 DelassusOperatorSparseAccelerate;
208 cl.def(
209 "solve", solve_wrapper<DelassusOperatorSparseAccelerate>,
210 (bp::args("self", "delassus", "g", "cones", "R"),
211 bp::arg("primal_solution") = boost::none, bp::arg("dual_solution") = boost::none,
212 bp::arg("compute_largest_eigen_values") = true, bp::arg("stat_record") = false),
213 "Solve the constrained conic problem, starting from the optional initial guess.");
214 }
215 #endif
216
217
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 65 bp::def(
218
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 130 "computeConeProjection", computeConeProjection_wrapper, bp::args("cones", "forces"),
219 "Project a vector on the cartesian product of cones.");
220
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 65 bp::def(
222 "computeDualConeProjection", computeDualConeProjection_wrapper,
223
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 130 bp::args("cones", "velocities"),
224 "Project a vector on the cartesian product of dual cones.");
225
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 65 bp::def(
227
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 130 "computePrimalFeasibility", computePrimalFeasibility_wrapper, bp::args("cones", "forces"),
228 "Compute the primal feasibility.");
229
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 65 bp::def(
231 "computeReprojectionError", computeReprojectionError_wrapper,
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 130 bp::args("cones", "forces", "velocities"), "Compute the reprojection error.");
233
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 65 bp::def(
235 "computeComplementarityShift", computeComplementarityShift_wrapper,
236
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 130 bp::args("cones", "velocities"),
237 "Compute the complementarity shift associated to the De Saxé function.");
238
239 {
240
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 65 bp::class_<SolverStats>(
241 "SolverStats", "",
242
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 130 bp::init<int>((bp::arg("self"), bp::arg("max_it")), "Default constructor"))
243
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 130 .def("reset", &SolverStats::reset, bp::arg("self"), "Reset the stasts.")
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 65 .def(
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 130 "size", &SolverStats::size, bp::arg("self"),
246 "Size of the vectors stored in the structure.")
247
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 65 .PINOCCHIO_ADD_PROPERTY_READONLY(SolverStats, primal_feasibility, "")
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 65 .PINOCCHIO_ADD_PROPERTY_READONLY(SolverStats, dual_feasibility, "")
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 65 .PINOCCHIO_ADD_PROPERTY_READONLY(SolverStats, rho, "")
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 65 .PINOCCHIO_ADD_PROPERTY_READONLY(
254 SolverStats, it, "Number of iterations performed by the algorithm.")
255
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 65 .PINOCCHIO_ADD_PROPERTY_READONLY(
256 SolverStats, cholesky_update_count,
257 "Number of Cholesky updates performed by the algorithm.");
258 }
259
260 {
261 typedef PowerIterationAlgoTpl<context::VectorXs> PowerIterationAlgo;
262
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 65 bp::class_<PowerIterationAlgo>(
263 "PowerIterationAlgo", "",
264
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 65 bp::init<Eigen::DenseIndex, int, Scalar>(
265
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 130 (bp::arg("self"), bp::arg("size"), bp::arg("max_it") = 10, bp::arg("rel_tol") = 1e-8),
266 "Default constructor"))
267
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 130 .def("run", &PowerIterationAlgo::run<context::MatrixXs>, bp::arg("self"), "")
268
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 65 .def(
269 "lowest", &PowerIterationAlgo::lowest<context::MatrixXs>,
270
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 130 (bp::arg("self"), bp::arg("compute_largest") = true), "")
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 130 .def("reset", &PowerIterationAlgo::reset, bp::arg("self"))
272
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 65 .PINOCCHIO_ADD_PROPERTY(PowerIterationAlgo, principal_eigen_vector, "")
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 65 .PINOCCHIO_ADD_PROPERTY(PowerIterationAlgo, lowest_eigen_vector, "")
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 65 .PINOCCHIO_ADD_PROPERTY(PowerIterationAlgo, max_it, "")
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281 }
282 #endif
283 69 }
284
285 } // namespace python
286 } // namespace pinocchio
287