GCC Code Coverage Report

Directory: ./
File: include/pinocchio/algorithm/proximal.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 21 33 63.6%
Branches: 11 138 8.0%
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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.
29 216 ProximalSettingsTpl()
30 216 : absolute_accuracy(Eigen::NumTraits<Scalar>::dummy_precision())
31
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 216 , relative_accuracy(Eigen::NumTraits<Scalar>::dummy_precision())
32
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 216 , mu(0)
33 216 , max_iter(1)
34
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 216 , absolute_residual(-1.)
35
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 216 , relative_residual(-1.)
36 216 , iter(0)
37 {
38 216 }
39
40 ///
41 /// \brief Constructor with all the setting parameters.
42 ///
43 43 ProximalSettingsTpl(const Scalar accuracy, const Scalar mu, const int max_iter)
44 43 : absolute_accuracy(accuracy)
45
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 43 , relative_accuracy(accuracy)
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 43 , mu(mu)
47 43 , max_iter(max_iter)
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 43 , absolute_residual(-1.)
49
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 43 , relative_residual(-1.)
50 43 , iter(0)
51 {
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 43 PINOCCHIO_CHECK_INPUT_ARGUMENT(
53 check_expression_if_real<Scalar>(accuracy >= 0.) && "Accuracy must be positive.");
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 43 PINOCCHIO_CHECK_INPUT_ARGUMENT(
55 check_expression_if_real<Scalar>(mu >= 0.) && "mu must be positive");
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 43 assert(max_iter >= 1 && "max_iter must be greater or equal to 1");
57 43 }
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