29 #ifndef HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
30 #define HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
37 #include <hpp/util/serialization-fwd.hh>
41 namespace constraints {
45 namespace lineSearch {
48 template <
typename SolverType>
57 template <
typename SolverType>
60 template <
typename SolverType>
73 template <
typename SolverType>
89 template <
typename SolverType>
96 namespace saturation {
117 Eigen::VectorXi& saturation);
125 return function(q, qSat, saturation);
249 const std::size_t& priority);
283 template <
typename LineSearchType>
308 computeValue<false>(arg);
310 return squaredNorm_ < squaredErrorThreshold_;
318 computeValue<false>(arg);
320 return squaredNorm_ < errorThreshold * errorThreshold;
354 for (std::size_t i = 0; i < intervals.size(); ++i)
355 freeVariables_.addRow(intervals[i].first, intervals[i].second);
356 freeVariables_.updateIndices<
true,
true,
true>();
365 freeVariables_ = indices;
379 squaredErrorThreshold_ = threshold * threshold;
402 assert(priority < stacks_.size());
403 return stacks_[priority];
499 template <
bool ComputeJac>
515 virtual std::ostream&
print(std::ostream& os)
const;
518 typedef Eigen::JacobiSVD<matrix_t>
SVD_t;
522 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
572 std::map<DifferentiableFunctionPtr_t, size_type>
iq_;
574 std::map<DifferentiableFunctionPtr_t, size_type>
iv_;
576 std::map<DifferentiableFunctionPtr_t, std::size_t>
priority_;
598 HPP_SERIALIZABLE_SPLIT();
Definition: implicit-constraint-set.hh:45
Definition: hierarchical-iterative.hh:219
void expandDqSmall() const
const size_type & dimension() const
Definition: hierarchical-iterative.hh:411
Configuration_t qSat_
Definition: hierarchical-iterative.hh:584
virtual ~HierarchicalIterative()
Definition: hierarchical-iterative.hh:231
virtual bool integrate(vectorIn_t from, vectorIn_t velocity, vectorOut_t result) const
virtual bool rightHandSideFromConfig(const ImplicitPtr_t &constraint, ConfigurationIn_t config)
std::vector< ImplicitConstraintSet > stacks_
Definition: hierarchical-iterative.hh:562
lineSearch::FixedSequence DefaultLineSearch
Definition: hierarchical-iterative.hh:222
Status solve(vectorOut_t arg) const
Definition: hierarchical-iterative.hh:300
Saturation_t saturate_
Definition: hierarchical-iterative.hh:568
virtual bool getRightHandSide(const ImplicitPtr_t &constraint, vectorOut_t rhs) const
Get right hand side of a constraints.
void saturate(vectorOut_t arg) const
virtual void computeActiveRowsOfJ(std::size_t iStack)
size_type maxIterations_
Definition: hierarchical-iterative.hh:560
void rightHandSideAt(const value_type &s)
void saturation(const Saturation_t &saturate)
Set the saturation function.
Definition: hierarchical-iterative.hh:259
vector_t rightHandSideFromConfig(ConfigurationIn_t config)
Eigen::VectorXi reducedSaturation_
Definition: hierarchical-iterative.hh:583
const size_type & reducedDimension() const
Definition: hierarchical-iterative.hh:415
const ImplicitConstraintSet & constraints(const std::size_t priority)
Get set of constraints for a give priority level.
Definition: hierarchical-iterative.hh:401
void freeVariables(const Indices_t &indices)
Definition: hierarchical-iterative.hh:364
bool isConstraintSatisfied(const ImplicitPtr_t &constraint, vectorIn_t arg, vectorOut_t error, bool &constraintFound) const
vector_t OM_
Definition: hierarchical-iterative.hh:589
HierarchicalIterative(const LiegroupSpacePtr_t &configSpace)
value_type residualError() const
Returns the squared norm of the error vector.
Definition: hierarchical-iterative.hh:426
void errorThreshold(const value_type &threshold)
Set error threshold.
Definition: hierarchical-iterative.hh:378
HierarchicalIterative(const HierarchicalIterative &other)
value_type squaredNorm_
Definition: hierarchical-iterative.hh:586
virtual std::ostream & print(std::ostream &os) const
void computeValue(vectorIn_t arg) const
Compute the value of each level, and the jacobian if ComputeJac is true.
void getValue(vectorOut_t v) const
std::size_t numberStacks() const
Definition: hierarchical-iterative.hh:409
value_type inequalityThreshold_
Definition: hierarchical-iterative.hh:559
virtual bool add(const ImplicitPtr_t &constraint, const std::size_t &priority)
size_type rightHandSideSize() const
std::map< DifferentiableFunctionPtr_t, std::size_t > priority_
Priority level of constraint.
Definition: hierarchical-iterative.hh:576
LiegroupSpacePtr_t configSpace_
Definition: hierarchical-iterative.hh:563
Status solve(vectorOut_t arg, LineSearchType ls=LineSearchType()) const
const Saturation_t & saturation() const
Get the saturation function.
Definition: hierarchical-iterative.hh:262
void computeSaturation(vectorIn_t arg) const
vector_t dq_
Definition: hierarchical-iterative.hh:581
virtual void rightHandSide(vectorIn_t rhs)
Eigen::JacobiSVD< matrix_t > SVD_t
Definition: hierarchical-iterative.hh:518
const vector_t & lastStep() const
Accessor to the last step done.
Definition: hierarchical-iterative.hh:509
HierarchicalIterative()
Definition: hierarchical-iterative.hh:595
Status
Definition: hierarchical-iterative.hh:224
@ ERROR_INCREASED
Definition: hierarchical-iterative.hh:224
ArrayXb activeDerivativeParameters() const
Velocity parameters involved in the constraint resolution.
void freeVariables(const segments_t intervals)
Definition: hierarchical-iterative.hh:352
vector_t OP_
Definition: hierarchical-iterative.hh:590
std::map< DifferentiableFunctionPtr_t, size_type > iq_
Value rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:572
void lastIsOptional(bool optional)
Definition: hierarchical-iterative.hh:391
value_type sigma_
The smallest non-zero singular value.
Definition: hierarchical-iterative.hh:579
vector_t rightHandSide() const
std::vector< Data > datas_
Definition: hierarchical-iterative.hh:587
void inequalityThreshold(const value_type &it)
set the inequality threshold
Definition: hierarchical-iterative.hh:389
ArrayXb tmpSat_
Definition: hierarchical-iterative.hh:585
NumericalConstraints_t constraints_
Members moved from core::ConfigProjector.
Definition: hierarchical-iterative.hh:570
void residualError(vectorOut_t error) const
Returns the error vector.
bool lastIsOptional() const
Definition: hierarchical-iterative.hh:393
bool isSatisfied(vectorIn_t arg) const
Definition: hierarchical-iterative.hh:307
virtual void merge(const HierarchicalIterative &other)
virtual bool contains(const ImplicitPtr_t &numericalConstraint) const
void computeError() const
ArrayXb activeParameters() const
Configuration parameters involved in the constraint resolution.
bool definesSubmanifoldOf(const HierarchicalIterative &solver) const
const LiegroupSpacePtr_t & configSpace() const
Get configuration space on which constraints are defined.
Definition: hierarchical-iterative.hh:237
Eigen::RowBlockIndices Indices_t
Definition: hierarchical-iterative.hh:221
size_type dimension_
Definition: hierarchical-iterative.hh:564
shared_ptr< saturation::Base > Saturation_t
Definition: hierarchical-iterative.hh:225
std::map< DifferentiableFunctionPtr_t, size_type > iv_
Derivative rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:574
size_type maxIterations() const
Get maximal number of iterations in config projector.
Definition: hierarchical-iterative.hh:375
void maxIterations(size_type iterations)
Set maximal number of iterations.
Definition: hierarchical-iterative.hh:373
bool isSatisfied(vectorIn_t arg, value_type errorThreshold) const
Definition: hierarchical-iterative.hh:317
const value_type & sigma() const
Definition: hierarchical-iterative.hh:339
SVD_t svd_
Definition: hierarchical-iterative.hh:588
const Indices_t & freeVariables() const
Get free velocity variables.
Definition: hierarchical-iterative.hh:370
void computeDescentDirection() const
value_type inequalityThreshold() const
Get the inequality threshold.
Definition: hierarchical-iterative.hh:387
value_type errorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:382
Indices_t freeVariables_
Unknown of the set of implicit constraints.
Definition: hierarchical-iterative.hh:567
matrix_t reducedJ_
Definition: hierarchical-iterative.hh:582
bool lastIsOptional_
Definition: hierarchical-iterative.hh:565
value_type squaredErrorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:384
virtual bool rightHandSide(const ImplicitPtr_t &constraint, vectorIn_t rhs)
void getReducedJacobian(matrixOut_t J) const
const NumericalConstraints_t & constraints() const
Get constraints (implicit and explicit)
Definition: hierarchical-iterative.hh:407
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
assert(d.lhs()._blocks()==d.rhs()._blocks())
std::ostream & operator<<(std::ostream &os, const HierarchicalIterative &hs)
Definition: hierarchical-iterative.hh:601
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:104
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:68
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
pinocchio::size_type size_type
Definition: fwd.hh:47
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:79
pinocchio::value_type value_type
Definition: fwd.hh:48
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
std::vector< segment_t > segments_t
Definition: fwd.hh:83
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:60
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:175
pinocchio::vector_t vector_t
Definition: fwd.hh:58
Definition: active-set-differentiable-function.hh:36
Definition: hierarchical-iterative.hh:520
std::vector< std::size_t > inequalityIndices
Definition: hierarchical-iterative.hh:534
LiegroupElement output
Definition: hierarchical-iterative.hh:524
size_type maxRank
Definition: hierarchical-iterative.hh:531
ComparisonTypes_t comparison
Definition: hierarchical-iterative.hh:533
Eigen::RowBlockIndices equalityIndices
Definition: hierarchical-iterative.hh:535
matrix_t jacobian
Definition: hierarchical-iterative.hh:526
SVD_t svd
Definition: hierarchical-iterative.hh:528
vector_t error
Definition: hierarchical-iterative.hh:525
matrix_t PK
Definition: hierarchical-iterative.hh:529
Eigen::MatrixBlocks< false, false > activeRowsOfJ
Definition: hierarchical-iterative.hh:536
Definition: hierarchical-iterative.hh:54
vector_t df
Definition: hierarchical-iterative.hh:64
vector_t arg_darg
Definition: hierarchical-iterative.hh:64
value_type smallAlpha
Definition: hierarchical-iterative.hh:63
value_type tau
Definition: hierarchical-iterative.hh:63
bool operator()(const SolverType &solver, vectorOut_t arg, vectorOut_t darg)
Definition: hierarchical-iterative.hh:48
value_type computeLocalSlope(const SolverType &solver) const
Definition: hierarchical-iterative.hh:94
value_type c
Definition: hierarchical-iterative.hh:63
vector_t darg
Definition: hierarchical-iterative.hh:64
No line search. Use .
Definition: hierarchical-iterative.hh:47
bool operator()(const SolverType &solver, vectorOut_t arg, vectorOut_t darg)
Definition: hierarchical-iterative.hh:41
Definition: hierarchical-iterative.hh:85
bool operator()(const SolverType &solver, vectorOut_t arg, vectorOut_t darg)
Definition: hierarchical-iterative.hh:118
ErrorNormBased(value_type alphaMin=0.2)
value_type b
Definition: hierarchical-iterative.hh:92
value_type K
Definition: hierarchical-iterative.hh:92
ErrorNormBased(value_type alphaMin, value_type _a, value_type _b)
value_type a
Definition: hierarchical-iterative.hh:92
value_type C
Definition: hierarchical-iterative.hh:92
Definition: hierarchical-iterative.hh:70
value_type alphaMax
Definition: hierarchical-iterative.hh:77
bool operator()(const SolverType &solver, vectorOut_t arg, vectorOut_t darg)
Definition: hierarchical-iterative.hh:109
value_type K
Definition: hierarchical-iterative.hh:77
value_type alpha
Definition: hierarchical-iterative.hh:76
Base class for box constraints. To prevent configuration variables to get out of joint limits during ...
Definition: hierarchical-iterative.hh:104
virtual ~Base()
Definition: hierarchical-iterative.hh:118
virtual bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
simple box constraints
Definition: hierarchical-iterative.hh:132
Bounds(const vector_t &lb, const vector_t &ub)
Definition: hierarchical-iterative.hh:135
vector_t ub
Definition: hierarchical-iterative.hh:136
bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
vector_t lb
Definition: hierarchical-iterative.hh:136
Bounds()
Definition: hierarchical-iterative.hh:134
Box constraints use a Device joint limits.
Definition: hierarchical-iterative.hh:139
DevicePtr_t device
Definition: hierarchical-iterative.hh:144
Device()
Definition: hierarchical-iterative.hh:142
bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
Device(const DevicePtr_t &device)
Definition: hierarchical-iterative.hh:143
saturation from a std::function.
Definition: hierarchical-iterative.hh:121
bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
Definition: hierarchical-iterative.hh:124
function_t function
Definition: hierarchical-iterative.hh:129
Function()
Definition: hierarchical-iterative.hh:127
Function(const function_t &function)
Definition: hierarchical-iterative.hh:128
std::function< bool(vectorIn_t, vectorOut_t, Eigen::VectorXi &)> function_t
Definition: hierarchical-iterative.hh:123