| Directory: | ./ |
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| File: | include/pinocchio/algorithm/proximal.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 21 | 33 | 63.6% |
| Branches: | 7 | 44 | 15.9% |
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| 1 | // | ||
| 2 | // Copyright (c) 2019-2022 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_algorithm_proximal_hpp__ | ||
| 6 | #define __pinocchio_algorithm_proximal_hpp__ | ||
| 7 | |||
| 8 | #include <Eigen/Core> | ||
| 9 | #include "pinocchio/multibody/model.hpp" | ||
| 10 | #include "pinocchio/multibody/data.hpp" | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | |||
| 15 | /// | ||
| 16 | /// \brief Structure containing all the settings parameters for the proximal algorithms. | ||
| 17 | /// | ||
| 18 | /// \tparam _Scalar Scalar type of the for the regularization and the accuracy parameter. | ||
| 19 | /// | ||
| 20 | /// It contains the accuracy, the maximal number of iterations and the regularization factor | ||
| 21 | /// common to all proximal algorithms. | ||
| 22 | /// | ||
| 23 | template<typename _Scalar> | ||
| 24 | struct ProximalSettingsTpl | ||
| 25 | { | ||
| 26 | typedef _Scalar Scalar; | ||
| 27 | |||
| 28 | /// \brief Default constructor. | ||
| 29 | 69 | ProximalSettingsTpl() | |
| 30 | 69 | : absolute_accuracy(Eigen::NumTraits<Scalar>::dummy_precision()) | |
| 31 | 69 | , relative_accuracy(Eigen::NumTraits<Scalar>::dummy_precision()) | |
| 32 | 69 | , mu(0) | |
| 33 | 69 | , max_iter(1) | |
| 34 | 69 | , absolute_residual(-1.) | |
| 35 | 69 | , relative_residual(-1.) | |
| 36 | 69 | , iter(0) | |
| 37 | { | ||
| 38 | 69 | } | |
| 39 | |||
| 40 | /// | ||
| 41 | /// \brief Constructor with all the setting parameters. | ||
| 42 | /// | ||
| 43 | 42 | ProximalSettingsTpl(const Scalar accuracy, const Scalar mu, const int max_iter) | |
| 44 | 42 | : absolute_accuracy(accuracy) | |
| 45 | 42 | , relative_accuracy(accuracy) | |
| 46 | 42 | , mu(mu) | |
| 47 | 42 | , max_iter(max_iter) | |
| 48 | 42 | , absolute_residual(-1.) | |
| 49 | 42 | , relative_residual(-1.) | |
| 50 | 42 | , iter(0) | |
| 51 | { | ||
| 52 |
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42 | PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 53 | check_expression_if_real<Scalar>(accuracy >= 0.) && "Accuracy must be positive."); | ||
| 54 |
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42 | PINOCCHIO_CHECK_INPUT_ARGUMENT( |
| 55 | check_expression_if_real<Scalar>(mu >= 0.) && "mu must be positive"); | ||
| 56 |
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42 | assert(max_iter >= 1 && "max_iter must be greater or equal to 1"); |
| 57 | 42 | } | |
| 58 | |||
| 59 | /// | ||
| 60 | /// \brief Constructor with all the setting parameters. | ||
| 61 | /// | ||
| 62 | ✗ | ProximalSettingsTpl( | |
| 63 | const Scalar absolute_accuracy, | ||
| 64 | const Scalar relative_accuracy, | ||
| 65 | const Scalar mu, | ||
| 66 | const int max_iter) | ||
| 67 | ✗ | : absolute_accuracy(absolute_accuracy) | |
| 68 | ✗ | , relative_accuracy(relative_accuracy) | |
| 69 | ✗ | , mu(mu) | |
| 70 | ✗ | , max_iter(max_iter) | |
| 71 | ✗ | , absolute_residual(-1.) | |
| 72 | ✗ | , relative_residual(-1.) | |
| 73 | ✗ | , iter(0) | |
| 74 | { | ||
| 75 | ✗ | PINOCCHIO_CHECK_INPUT_ARGUMENT( | |
| 76 | check_expression_if_real<Scalar>(absolute_accuracy >= 0.) | ||
| 77 | && "Absolute accuracy must be positive."); | ||
| 78 | ✗ | PINOCCHIO_CHECK_INPUT_ARGUMENT( | |
| 79 | check_expression_if_real<Scalar>(relative_accuracy >= 0.) | ||
| 80 | && "Relative accuracy must be positive."); | ||
| 81 | ✗ | PINOCCHIO_CHECK_INPUT_ARGUMENT( | |
| 82 | check_expression_if_real<Scalar>(mu >= 0.) && "mu must be positive"); | ||
| 83 | ✗ | assert(max_iter >= 1 && "max_iter must be greater or equal to 1"); | |
| 84 | } | ||
| 85 | |||
| 86 | // data | ||
| 87 | |||
| 88 | /// \brief Absolute proximal accuracy. | ||
| 89 | Scalar absolute_accuracy; | ||
| 90 | |||
| 91 | /// \brief Relative proximal accuracy between two iterates. | ||
| 92 | Scalar relative_accuracy; | ||
| 93 | |||
| 94 | /// \brief Regularization parameter of the proximal algorithm. | ||
| 95 | Scalar mu; | ||
| 96 | |||
| 97 | /// \brief Maximal number of iterations. | ||
| 98 | int max_iter; | ||
| 99 | |||
| 100 | // data that can be modified by the algorithm | ||
| 101 | |||
| 102 | /// \brief Absolute residual. | ||
| 103 | Scalar absolute_residual; | ||
| 104 | |||
| 105 | /// \brief Relatice residual between two iterates. | ||
| 106 | Scalar relative_residual; | ||
| 107 | |||
| 108 | /// \brief Total number of iterations of the algorithm when it has converged or reached the | ||
| 109 | /// maximal number of allowed iterations. | ||
| 110 | int iter; | ||
| 111 | }; | ||
| 112 | |||
| 113 | } // namespace pinocchio | ||
| 114 | |||
| 115 | #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION | ||
| 116 | #include "pinocchio/algorithm/proximal.txx" | ||
| 117 | #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION | ||
| 118 | |||
| 119 | #endif // ifndef __pinocchio_algorithm_proximal_hpp__ | ||
| 120 |