hpp-constraints  4.10.1
Definition of basic geometric constraints for motion planning
hierarchical-iterative.hh
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1 // Copyright (c) 2017, 2018
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4 // This file is part of hpp-constraints.
5 // hpp-constraints is free software: you can redistribute it
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9 //
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15 // hpp-constraints. If not, see <http://www.gnu.org/licenses/>.
16 
17 #ifndef HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
18 #define HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
19 
20 #include <map>
21 #include <boost/function.hpp>
22 
23 #include <hpp/util/serialization-fwd.hh>
24 
25 #include <hpp/util/serialization-fwd.hh>
26 
27 #include <hpp/constraints/fwd.hh>
29 
32 
33 namespace hpp {
34  namespace constraints {
35  namespace solver {
38  namespace lineSearch {
40  struct Constant {
41  template <typename SolverType>
42  bool operator() (const SolverType& solver, vectorOut_t arg,
43  vectorOut_t darg);
44  };
45 
48  struct Backtracking {
49  Backtracking ();
50 
51  template <typename SolverType>
52  bool operator() (const SolverType& solver, vectorOut_t arg,
53  vectorOut_t darg);
54 
55  template <typename SolverType>
56  inline value_type computeLocalSlope(const SolverType& solver) const;
57 
58  value_type c, tau, smallAlpha; // 0.8 ^ 7 = 0.209, 0.8 ^ 8 = 0.1677
59  mutable vector_t arg_darg, df, darg;
60  };
61 
65  struct FixedSequence {
66  FixedSequence();
67 
68  template <typename SolverType>
69  bool operator() (const SolverType& solver, vectorOut_t arg,
70  vectorOut_t darg);
71 
73  value_type alphaMax, K;
74  };
75 
81  struct ErrorNormBased {
83  ErrorNormBased(value_type alphaMin = 0.2);
84 
85  template <typename SolverType>
86  bool operator() (const SolverType& solver, vectorOut_t arg,
87  vectorOut_t darg);
88 
89  value_type C, K, a, b;
90  };
91  } // namespace lineSearch
92 
93  namespace saturation {
101  struct Base {
113  virtual bool saturate(vectorIn_t q, vectorOut_t qSat,
114  Eigen::VectorXi& saturation);
115  virtual ~Base() {}
116  };
118  struct Function : Base {
119  typedef boost::function<bool (vectorIn_t, vectorOut_t, Eigen::VectorXi&)> function_t;
121  Eigen::VectorXi& saturation) {
122  return function(q, qSat, saturation);
123  }
124  Function () {}
125  Function (const function_t& function) : function(function) {}
126  function_t function;
127  };
129  struct Bounds : Base {
130  bool saturate(vectorIn_t q, vectorOut_t qSat,
131  Eigen::VectorXi& saturation);
132  Bounds () {}
133  Bounds (const vector_t& lb, const vector_t& ub) : lb(lb), ub(ub) {}
135  };
137  struct Device : Base {
139  bool saturate(vectorIn_t q, vectorOut_t qSat,
140  Eigen::VectorXi& saturation);
141  Device() {}
142  Device(const DevicePtr_t& device) : device (device) {}
144  };
145  }
146 
219  {
220  public:
223 
224  enum Status {
228  SUCCESS
229  };
230  typedef boost::shared_ptr<saturation::Base> Saturation_t;
231 
232  HierarchicalIterative (const LiegroupSpacePtr_t& configSpace);
233 
235 
237 
240 
243  {
244  return configSpace_;
245  }
252  virtual bool contains (const ImplicitPtr_t& numericalConstraint) const;
253 
259  virtual bool add (const ImplicitPtr_t& constraint, const std::size_t& priority);
260 
266  virtual void merge (const HierarchicalIterative& other);
267 
269  void saturation (const Saturation_t& saturate)
270  {
271  saturate_ = saturate;
272  }
273 
275  const Saturation_t& saturation () const
276  {
277  return saturate_;
278  }
279 
281 
284 
299  template <typename LineSearchType>
300  Status solve (vectorOut_t arg, LineSearchType ls = LineSearchType()) const;
301 
316  inline Status solve (vectorOut_t arg) const
317  {
318  return solve (arg, DefaultLineSearch());
319  }
320 
321  bool isSatisfied (vectorIn_t arg) const
322  {
323  computeValue<false>(arg);
324  computeError();
325  return squaredNorm_ < squaredErrorThreshold_;
326  }
327 
337  bool isConstraintSatisfied (const ImplicitPtr_t& constraint,
338  vectorIn_t arg, vectorOut_t error,
339  bool& constraintFound) const;
340 
345  const value_type& sigma () const
346  {
347  return sigma_;
348  }
349 
351 
354 
361  void freeVariables (const segments_t intervals)
362  {
363  freeVariables_ = Indices_t();
364  for (std::size_t i = 0; i < intervals.size(); ++i)
365  freeVariables_.addRow (intervals[i].first, intervals[i].second);
366  freeVariables_.updateIndices<true, true, true>();
367  update ();
368  }
369 
374  void freeVariables (const Indices_t& indices)
375  {
376  freeVariables_ = indices;
377  update ();
378  }
379 
381  const Indices_t& freeVariables () const
382  {
383  return freeVariables_;
384  }
385 
387  void maxIterations (size_type iterations)
388  {
389  maxIterations_ = iterations;
390  }
393  {
394  return maxIterations_;
395  }
396 
398  void errorThreshold (const value_type& threshold)
399  {
400  squaredErrorThreshold_ = threshold * threshold;
401  }
404  {
405  return sqrt (squaredErrorThreshold_);
406  }
409  {
410  return squaredErrorThreshold_;
411  }
412 
415  {
416  return inequalityThreshold_;
417  }
420  {
421  inequalityThreshold_ = it;
422  }
423 
424  void lastIsOptional (bool optional)
425  {
426  lastIsOptional_ = optional;
427  }
428 
429  bool lastIsOptional () const
430  {
431  return lastIsOptional_;
432  }
433 
435 
438 
440  const ImplicitConstraintSet& constraints (const std::size_t priority)
441  {
442  assert(priority < stacks_.size());
443  return stacks_[priority];
444  }
445 
448  {
449  return constraints_;
450  }
451 
452  std::size_t numberStacks() const
453  {
454  return stacks_.size();
455  }
456 
457  const size_type& dimension () const
458  {
459  return dimension_;
460  }
461 
464  const size_type& reducedDimension () const
465  {
466  return reducedDimension_;
467  }
468 
470  ArrayXb activeParameters () const;
471 
473  ArrayXb activeDerivativeParameters () const;
474 
476 
479  {
480  return squaredNorm_;
481  }
482 
484  void residualError(vectorOut_t error) const;
485 
494  bool definesSubmanifoldOf (const HierarchicalIterative& solver) const;
495 
498 
505  vector_t rightHandSideFromConfig (ConfigurationIn_t config);
506 
513  virtual bool rightHandSideFromConfig (const ImplicitPtr_t& constraint,
514  ConfigurationIn_t config);
520  virtual bool rightHandSide (const ImplicitPtr_t& constraint,
521  vectorIn_t rhs);
522 
524  virtual bool getRightHandSide (const ImplicitPtr_t& constraint,vectorOut_t rhs) const;
525 
530  virtual void rightHandSide (vectorIn_t rhs);
531 
534  void rightHandSideAt (const value_type& s);
535 
540  vector_t rightHandSide () const;
541 
545  size_type rightHandSideSize () const;
546 
548 
552 
554  template <bool ComputeJac> void computeValue (vectorIn_t arg) const;
555  void computeSaturation (vectorIn_t arg) const;
556  void getValue (vectorOut_t v) const;
557  void getReducedJacobian (matrixOut_t J) const;
560  void computeError () const;
561 
563  const vector_t& lastStep () const
564  {
565  return dq_;
566  }
567 
568  virtual bool integrate(vectorIn_t from, vectorIn_t velocity,
569  vectorOut_t result) const;
571 
572  virtual std::ostream& print (std::ostream& os) const;
573 
574  protected:
575  typedef Eigen::JacobiSVD <matrix_t> SVD_t;
576 
577  struct Data {
579  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
583  matrix_t jacobian, reducedJ;
584 
585  SVD_t svd;
587 
589 
591  std::vector<std::size_t> inequalityIndices;
594  };
595 
598  void update ();
599 
603  virtual void computeActiveRowsOfJ (std::size_t iStack);
604 
612  void computeDescentDirection () const;
613  void expandDqSmall () const;
614  void saturate (vectorOut_t arg) const;
615 
616 
617  value_type squaredErrorThreshold_, inequalityThreshold_;
619 
620  std::vector<ImplicitConstraintSet> stacks_;
625  Indices_t freeVariables_;
626  Saturation_t saturate_;
630  std::map <DifferentiableFunctionPtr_t, size_type> iq_;
632  std::map <DifferentiableFunctionPtr_t, size_type> iv_;
634  std::map <DifferentiableFunctionPtr_t, std::size_t> priority_;
635 
638 
639  mutable vector_t dq_, dqSmall_;
641  mutable Eigen::VectorXi saturation_, reducedSaturation_;
643  mutable ArrayXb tmpSat_;
645  mutable std::vector<Data> datas_;
646  mutable SVD_t svd_;
647  mutable vector_t OM_;
648  mutable vector_t OP_;
649 
651 
652  protected:
654  private:
655  HPP_SERIALIZABLE_SPLIT();
656  }; // class HierarchicalIterative
658  } // namespace solver
659  } // namespace constraints
660 } // namespace hpp
661 
662 #endif // HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
pinocchio::vector_t vector_t
Definition: fwd.hh:47
Device(const DevicePtr_t &device)
Definition: hierarchical-iterative.hh:142
vector_t ub
Definition: hierarchical-iterative.hh:134
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Definition: implicit-constraint-set.hh:34
boost::function< bool(vectorIn_t, vectorOut_t, Eigen::VectorXi &)> function_t
Definition: hierarchical-iterative.hh:119
NumericalConstraints_t constraints_
Members moved from core::ConfigProjector.
Definition: hierarchical-iterative.hh:628
Definition: hierarchical-iterative.hh:48
void inequalityThreshold(const value_type &it)
set the inequality threshold
Definition: hierarchical-iterative.hh:419
bool lastIsOptional_
Definition: hierarchical-iterative.hh:623
std::map< DifferentiableFunctionPtr_t, std::size_t > priority_
Priority level of constraint.
Definition: hierarchical-iterative.hh:634
size_type maxIterations_
Definition: hierarchical-iterative.hh:618
void errorThreshold(const value_type &threshold)
Set error threshold.
Definition: hierarchical-iterative.hh:398
Definition: hierarchical-iterative.hh:81
std::vector< std::size_t > inequalityIndices
Definition: hierarchical-iterative.hh:591
Function()
Definition: hierarchical-iterative.hh:124
Eigen::RowBlockIndices equalityIndices
Definition: hierarchical-iterative.hh:592
Definition: active-set-differentiable-function.hh:24
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
value_type K
Definition: hierarchical-iterative.hh:89
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
ArrayXb tmpSat_
Definition: hierarchical-iterative.hh:643
matrix_t reducedJ
Definition: hierarchical-iterative.hh:583
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
lineSearch::FixedSequence DefaultLineSearch
Definition: hierarchical-iterative.hh:222
LiegroupSpacePtr_t configSpace_
Definition: hierarchical-iterative.hh:621
SVD_t svd
Definition: hierarchical-iterative.hh:585
std::vector< ImplicitConstraintSet > stacks_
Definition: hierarchical-iterative.hh:620
std::vector< segment_t > segments_t
Definition: fwd.hh:72
simple box constraints
Definition: hierarchical-iterative.hh:129
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
Eigen::RowBlockIndices Indices_t
Definition: hierarchical-iterative.hh:221
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:68
value_type K
Definition: hierarchical-iterative.hh:73
size_type maxRank
Definition: hierarchical-iterative.hh:588
const LiegroupSpacePtr_t & configSpace() const
Get configuration space on which constraints are defined.
Definition: hierarchical-iterative.hh:242
Base class for box constraints. To prevent configuration variables to get out of joint limits during ...
Definition: hierarchical-iterative.hh:101
const Saturation_t & saturation() const
Get the saturation function.
Definition: hierarchical-iterative.hh:275
vector_t dqSmall_
Definition: hierarchical-iterative.hh:639
No line search. Use .
Definition: hierarchical-iterative.hh:40
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:93
Status
Definition: hierarchical-iterative.hh:224
Definition: hierarchical-iterative.hh:65
vector_t OM_
Definition: hierarchical-iterative.hh:647
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
const size_type & reducedDimension() const
Definition: hierarchical-iterative.hh:464
value_type alpha
Definition: hierarchical-iterative.hh:72
assert(d.lhs()._blocks()==d.rhs()._blocks())
const Indices_t & freeVariables() const
Get free velocity variables.
Definition: hierarchical-iterative.hh:381
Bounds(const vector_t &lb, const vector_t &ub)
Definition: hierarchical-iterative.hh:133
Status solve(vectorOut_t arg) const
Definition: hierarchical-iterative.hh:316
void freeVariables(const Indices_t &indices)
Definition: hierarchical-iterative.hh:374
size_type reducedDimension_
Definition: hierarchical-iterative.hh:622
bool operator()(const SolverType &solver, vectorOut_t arg, vectorOut_t darg)
Definition: hierarchical-iterative.hh:30
void freeVariables(const segments_t intervals)
Definition: hierarchical-iterative.hh:361
bool isSatisfied(vectorIn_t arg) const
Definition: hierarchical-iterative.hh:321
const NumericalConstraints_t & constraints() const
Get constraints (implicit and explicit)
Definition: hierarchical-iterative.hh:447
const ImplicitConstraintSet & constraints(const std::size_t priority)
Get set of constraints for a give priority level.
Definition: hierarchical-iterative.hh:440
Configuration_t qSat_
Definition: hierarchical-iterative.hh:642
matrix_t reducedJ_
Definition: hierarchical-iterative.hh:640
value_type errorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:403
Device()
Definition: hierarchical-iterative.hh:141
Eigen::VectorXi saturation_
Definition: hierarchical-iterative.hh:641
Bounds()
Definition: hierarchical-iterative.hh:132
Saturation_t saturate_
Definition: hierarchical-iterative.hh:626
bool lastIsOptional() const
Definition: hierarchical-iterative.hh:429
std::map< DifferentiableFunctionPtr_t, size_type > iq_
Value rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:630
bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
Definition: hierarchical-iterative.hh:120
Eigen::JacobiSVD< matrix_t > SVD_t
Definition: hierarchical-iterative.hh:575
Function(const function_t &function)
Definition: hierarchical-iterative.hh:125
saturation from a boost::function.
Definition: hierarchical-iterative.hh:118
value_type squaredNorm_
Definition: hierarchical-iterative.hh:644
value_type tau
Definition: hierarchical-iterative.hh:58
virtual ~Base()
Definition: hierarchical-iterative.hh:115
value_type inequalityThreshold() const
Get the inequality threshold.
Definition: hierarchical-iterative.hh:414
ComparisonTypes_t comparison
Definition: hierarchical-iterative.hh:590
vector_t df
Definition: hierarchical-iterative.hh:59
void lastIsOptional(bool optional)
Definition: hierarchical-iterative.hh:424
virtual ~HierarchicalIterative()
Definition: hierarchical-iterative.hh:236
Definition: hierarchical-iterative.hh:577
boost::shared_ptr< saturation::Base > Saturation_t
Definition: hierarchical-iterative.hh:230
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:49
Indices_t freeVariables_
Unknown of the set of implicit constraints.
Definition: hierarchical-iterative.hh:625
value_type sigma_
The smallest non-zero singular value.
Definition: hierarchical-iterative.hh:637
std::vector< Data > datas_
Definition: hierarchical-iterative.hh:645
void maxIterations(size_type iterations)
Set maximal number of iterations.
Definition: hierarchical-iterative.hh:387
void saturation(const Saturation_t &saturate)
Set the saturation function.
Definition: hierarchical-iterative.hh:269
pinocchio::size_type size_type
Definition: fwd.hh:36
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
vector_t error
Definition: hierarchical-iterative.hh:582
HierarchicalIterative()
Definition: hierarchical-iterative.hh:653
Definition: hierarchical-iterative.hh:227
LiegroupElement rightHandSide
Definition: hierarchical-iterative.hh:581
SVD_t svd_
Definition: hierarchical-iterative.hh:646
Box constraints use a Device joint limits.
Definition: hierarchical-iterative.hh:137
vector_t OP_
Definition: hierarchical-iterative.hh:648
pinocchio::value_type value_type
Definition: fwd.hh:37
value_type residualError() const
Returns the squared norm of the error vector.
Definition: hierarchical-iterative.hh:478
const size_type & dimension() const
Definition: hierarchical-iterative.hh:457
Eigen::MatrixBlocks< false, false > activeRowsOfJ
Definition: hierarchical-iterative.hh:593
matrix_t PK
Definition: hierarchical-iterative.hh:586
value_type squaredErrorThreshold_
Definition: hierarchical-iterative.hh:617
boost::shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
std::size_t numberStacks() const
Definition: hierarchical-iterative.hh:452
DevicePtr_t device
Definition: hierarchical-iterative.hh:143
Definition: hierarchical-iterative.hh:218
size_type maxIterations() const
Get maximal number of iterations in config projector.
Definition: hierarchical-iterative.hh:392
std::map< DifferentiableFunctionPtr_t, size_type > iv_
Derivative rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:632
const vector_t & lastStep() const
Accessor to the last step done.
Definition: hierarchical-iterative.hh:563
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:165
value_type squaredErrorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:408
const value_type & sigma() const
Definition: hierarchical-iterative.hh:345