hpp-constraints  4.13.0
Definition of basic geometric constraints for motion planning
hierarchical-iterative.hh
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28 
29 #ifndef HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
30 #define HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
31 
32 #include <functional>
34 #include <hpp/constraints/fwd.hh>
37 #include <hpp/util/serialization-fwd.hh>
38 #include <map>
39 
40 namespace hpp {
41 namespace constraints {
42 namespace solver {
45 namespace lineSearch {
47 struct Constant {
48  template <typename SolverType>
49  bool operator()(const SolverType& solver, vectorOut_t arg, vectorOut_t darg);
50 };
51 
54 struct Backtracking {
55  Backtracking();
56 
57  template <typename SolverType>
58  bool operator()(const SolverType& solver, vectorOut_t arg, vectorOut_t darg);
59 
60  template <typename SolverType>
61  inline value_type computeLocalSlope(const SolverType& solver) const;
62 
63  value_type c, tau, smallAlpha; // 0.8 ^ 7 = 0.209, 0.8 ^ 8 = 0.1677
64  mutable vector_t arg_darg, df, darg;
65 };
66 
70 struct FixedSequence {
71  FixedSequence();
72 
73  template <typename SolverType>
74  bool operator()(const SolverType& solver, vectorOut_t arg, vectorOut_t darg);
75 
77  value_type alphaMax, K;
78 };
79 
87  ErrorNormBased(value_type alphaMin = 0.2);
88 
89  template <typename SolverType>
90  bool operator()(const SolverType& solver, vectorOut_t arg, vectorOut_t darg);
91 
92  value_type C, K, a, b;
93 };
94 } // namespace lineSearch
95 
96 namespace saturation {
104 struct Base {
116  virtual bool saturate(vectorIn_t q, vectorOut_t qSat,
117  Eigen::VectorXi& saturation);
118  virtual ~Base() {}
119 };
121 struct Function : Base {
122  typedef std::function<bool(vectorIn_t, vectorOut_t, Eigen::VectorXi&)>
124  bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi& saturation) {
125  return function(q, qSat, saturation);
126  }
127  Function() {}
128  Function(const function_t& function) : function(function) {}
129  function_t function;
130 };
132 struct Bounds : Base {
133  bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi& saturation);
134  Bounds() {}
135  Bounds(const vector_t& lb, const vector_t& ub) : lb(lb), ub(ub) {}
137 };
139 struct Device : Base {
141  bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi& saturation);
142  Device() {}
143  Device(const DevicePtr_t& device) : device(device) {}
145 };
146 } // namespace saturation
147 
220  public:
223 
224  enum Status { ERROR_INCREASED, MAX_ITERATION_REACHED, INFEASIBLE, SUCCESS };
225  typedef shared_ptr<saturation::Base> Saturation_t;
226 
227  HierarchicalIterative(const LiegroupSpacePtr_t& configSpace);
228 
230 
232 
235 
237  const LiegroupSpacePtr_t& configSpace() const { return configSpace_; }
241  virtual bool contains(const ImplicitPtr_t& numericalConstraint) const;
242 
248  virtual bool add(const ImplicitPtr_t& constraint,
249  const std::size_t& priority);
250 
256  virtual void merge(const HierarchicalIterative& other);
257 
259  void saturation(const Saturation_t& saturate) { saturate_ = saturate; }
260 
262  const Saturation_t& saturation() const { return saturate_; }
263 
265 
268 
283  template <typename LineSearchType>
284  Status solve(vectorOut_t arg, LineSearchType ls = LineSearchType()) const;
285 
300  inline Status solve(vectorOut_t arg) const {
301  return solve(arg, DefaultLineSearch());
302  }
303 
307  bool isSatisfied(vectorIn_t arg) const {
308  computeValue<false>(arg);
309  computeError();
310  return squaredNorm_ < squaredErrorThreshold_;
311  }
312 
317  bool isSatisfied(vectorIn_t arg, value_type errorThreshold) const {
318  computeValue<false>(arg);
319  computeError();
320  return squaredNorm_ < errorThreshold * errorThreshold;
321  }
322 
332  bool isConstraintSatisfied(const ImplicitPtr_t& constraint, vectorIn_t arg,
333  vectorOut_t error, bool& constraintFound) const;
334 
339  const value_type& sigma() const { return sigma_; }
340 
342 
345 
352  void freeVariables(const segments_t intervals) {
353  freeVariables_ = Indices_t();
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>();
357  update();
358  }
359 
364  void freeVariables(const Indices_t& indices) {
365  freeVariables_ = indices;
366  update();
367  }
368 
370  const Indices_t& freeVariables() const { return freeVariables_; }
371 
373  void maxIterations(size_type iterations) { maxIterations_ = iterations; }
375  size_type maxIterations() const { return maxIterations_; }
376 
378  void errorThreshold(const value_type& threshold) {
379  squaredErrorThreshold_ = threshold * threshold;
380  }
382  value_type errorThreshold() const { return sqrt(squaredErrorThreshold_); }
384  value_type squaredErrorThreshold() const { return squaredErrorThreshold_; }
385 
387  value_type inequalityThreshold() const { return inequalityThreshold_; }
389  void inequalityThreshold(const value_type& it) { inequalityThreshold_ = it; }
390 
391  void lastIsOptional(bool optional) { lastIsOptional_ = optional; }
392 
393  bool lastIsOptional() const { return lastIsOptional_; }
394 
396 
399 
401  const ImplicitConstraintSet& constraints(const std::size_t priority) {
402  assert(priority < stacks_.size());
403  return stacks_[priority];
404  }
405 
407  const NumericalConstraints_t& constraints() const { return constraints_; }
408 
409  std::size_t numberStacks() const { return stacks_.size(); }
410 
411  const size_type& dimension() const { return dimension_; }
412 
415  const size_type& reducedDimension() const { return reducedDimension_; }
416 
418  ArrayXb activeParameters() const;
419 
421  ArrayXb activeDerivativeParameters() const;
422 
424 
426  value_type residualError() const { return squaredNorm_; }
427 
429  void residualError(vectorOut_t error) const;
430 
439  bool definesSubmanifoldOf(const HierarchicalIterative& solver) const;
440 
443 
450  vector_t rightHandSideFromConfig(ConfigurationIn_t config);
451 
458  virtual bool rightHandSideFromConfig(const ImplicitPtr_t& constraint,
459  ConfigurationIn_t config);
465  virtual bool rightHandSide(const ImplicitPtr_t& constraint, vectorIn_t rhs);
466 
468  virtual bool getRightHandSide(const ImplicitPtr_t& constraint,
469  vectorOut_t rhs) const;
470 
475  virtual void rightHandSide(vectorIn_t rhs);
476 
479  void rightHandSideAt(const value_type& s);
480 
485  vector_t rightHandSide() const;
486 
490  size_type rightHandSideSize() const;
491 
493 
497 
499  template <bool ComputeJac>
500  void computeValue(vectorIn_t arg) const;
501  void computeSaturation(vectorIn_t arg) const;
502  void getValue(vectorOut_t v) const;
503  void getReducedJacobian(matrixOut_t J) const;
506  void computeError() const;
507 
509  const vector_t& lastStep() const { return dq_; }
510 
511  virtual bool integrate(vectorIn_t from, vectorIn_t velocity,
512  vectorOut_t result) const;
514 
515  virtual std::ostream& print(std::ostream& os) const;
516 
517  protected:
518  typedef Eigen::JacobiSVD<matrix_t> SVD_t;
519 
520  struct Data {
522  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
526  matrix_t jacobian, reducedJ;
527 
528  SVD_t svd;
530 
532 
534  std::vector<std::size_t> inequalityIndices;
537  };
538 
541  void update();
542 
546  virtual void computeActiveRowsOfJ(std::size_t iStack);
547 
555  void computeDescentDirection() const;
556  void expandDqSmall() const;
557  void saturate(vectorOut_t arg) const;
558 
559  value_type squaredErrorThreshold_, inequalityThreshold_;
561 
562  std::vector<ImplicitConstraintSet> stacks_;
567  Indices_t freeVariables_;
568  Saturation_t saturate_;
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_;
577 
580 
581  mutable vector_t dq_, dqSmall_;
583  mutable Eigen::VectorXi saturation_, reducedSaturation_;
585  mutable ArrayXb tmpSat_;
587  mutable std::vector<Data> datas_;
588  mutable SVD_t svd_;
589  mutable vector_t OM_;
590  mutable vector_t OP_;
591 
593 
594  protected:
596 
597  private:
598  HPP_SERIALIZABLE_SPLIT();
599 }; // class HierarchicalIterative
601 inline std::ostream& operator<<(std::ostream& os,
602  const HierarchicalIterative& hs) {
603  return hs.print(os);
604 }
605 } // namespace solver
606 } // namespace constraints
607 } // namespace hpp
608 
609 #endif // HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
std::vector< segment_t > segments_t
Definition: fwd.hh:83
std::ostream & operator<<(std::ostream &os, const HierarchicalIterative &hs)
Definition: hierarchical-iterative.hh:601
pinocchio::vector_t vector_t
Definition: fwd.hh:58
Device(const DevicePtr_t &device)
Definition: hierarchical-iterative.hh:143
vector_t ub
Definition: hierarchical-iterative.hh:136
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
Definition: implicit-constraint-set.hh:45
NumericalConstraints_t constraints_
Members moved from core::ConfigProjector.
Definition: hierarchical-iterative.hh:570
Definition: hierarchical-iterative.hh:54
void inequalityThreshold(const value_type &it)
set the inequality threshold
Definition: hierarchical-iterative.hh:389
bool lastIsOptional_
Definition: hierarchical-iterative.hh:565
std::map< DifferentiableFunctionPtr_t, std::size_t > priority_
Priority level of constraint.
Definition: hierarchical-iterative.hh:576
Eigen::MatrixBlocks< false, false > activeRowsOfJ
Definition: hierarchical-iterative.hh:536
size_type maxIterations_
Definition: hierarchical-iterative.hh:560
void errorThreshold(const value_type &threshold)
Set error threshold.
Definition: hierarchical-iterative.hh:378
Definition: hierarchical-iterative.hh:85
std::vector< std::size_t > inequalityIndices
Definition: hierarchical-iterative.hh:534
Function()
Definition: hierarchical-iterative.hh:127
Eigen::RowBlockIndices equalityIndices
Definition: hierarchical-iterative.hh:535
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:68
value_type K
Definition: hierarchical-iterative.hh:92
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
ArrayXb tmpSat_
Definition: hierarchical-iterative.hh:585
matrix_t reducedJ
Definition: hierarchical-iterative.hh:526
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:175
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
lineSearch::FixedSequence DefaultLineSearch
Definition: hierarchical-iterative.hh:222
LiegroupSpacePtr_t configSpace_
Definition: hierarchical-iterative.hh:563
SVD_t svd
Definition: hierarchical-iterative.hh:528
std::vector< ImplicitConstraintSet > stacks_
Definition: hierarchical-iterative.hh:562
shared_ptr< saturation::Base > Saturation_t
Definition: hierarchical-iterative.hh:225
simple box constraints
Definition: hierarchical-iterative.hh:132
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
Eigen::RowBlockIndices Indices_t
Definition: hierarchical-iterative.hh:221
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:79
value_type K
Definition: hierarchical-iterative.hh:77
size_type maxRank
Definition: hierarchical-iterative.hh:531
virtual std::ostream & print(std::ostream &os) const
const LiegroupSpacePtr_t & configSpace() const
Get configuration space on which constraints are defined.
Definition: hierarchical-iterative.hh:237
Base class for box constraints. To prevent configuration variables to get out of joint limits during ...
Definition: hierarchical-iterative.hh:104
std::function< bool(vectorIn_t, vectorOut_t, Eigen::VectorXi &)> function_t
Definition: hierarchical-iterative.hh:123
const Saturation_t & saturation() const
Get the saturation function.
Definition: hierarchical-iterative.hh:262
vector_t dqSmall_
Definition: hierarchical-iterative.hh:581
No line search. Use .
Definition: hierarchical-iterative.hh:47
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:104
Status
Definition: hierarchical-iterative.hh:224
Definition: hierarchical-iterative.hh:70
vector_t OM_
Definition: hierarchical-iterative.hh:589
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
const size_type & reducedDimension() const
Definition: hierarchical-iterative.hh:415
value_type alpha
Definition: hierarchical-iterative.hh:76
assert(d.lhs()._blocks()==d.rhs()._blocks())
const Indices_t & freeVariables() const
Get free velocity variables.
Definition: hierarchical-iterative.hh:370
Bounds(const vector_t &lb, const vector_t &ub)
Definition: hierarchical-iterative.hh:135
Status solve(vectorOut_t arg) const
Definition: hierarchical-iterative.hh:300
void freeVariables(const Indices_t &indices)
Definition: hierarchical-iterative.hh:364
size_type reducedDimension_
Definition: hierarchical-iterative.hh:564
bool operator()(const SolverType &solver, vectorOut_t arg, vectorOut_t darg)
Definition: hierarchical-iterative.hh:41
void freeVariables(const segments_t intervals)
Definition: hierarchical-iterative.hh:352
bool isSatisfied(vectorIn_t arg) const
Definition: hierarchical-iterative.hh:307
const NumericalConstraints_t & constraints() const
Get constraints (implicit and explicit)
Definition: hierarchical-iterative.hh:407
const ImplicitConstraintSet & constraints(const std::size_t priority)
Get set of constraints for a give priority level.
Definition: hierarchical-iterative.hh:401
Configuration_t qSat_
Definition: hierarchical-iterative.hh:584
matrix_t reducedJ_
Definition: hierarchical-iterative.hh:582
bool isSatisfied(vectorIn_t arg, value_type errorThreshold) const
Definition: hierarchical-iterative.hh:317
value_type errorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:382
Device()
Definition: hierarchical-iterative.hh:142
Eigen::VectorXi saturation_
Definition: hierarchical-iterative.hh:583
Bounds()
Definition: hierarchical-iterative.hh:134
Saturation_t saturate_
Definition: hierarchical-iterative.hh:568
bool lastIsOptional() const
Definition: hierarchical-iterative.hh:393
std::map< DifferentiableFunctionPtr_t, size_type > iq_
Value rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:572
bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
Definition: hierarchical-iterative.hh:124
Eigen::JacobiSVD< matrix_t > SVD_t
Definition: hierarchical-iterative.hh:518
Function(const function_t &function)
Definition: hierarchical-iterative.hh:128
saturation from a std::function.
Definition: hierarchical-iterative.hh:121
value_type squaredNorm_
Definition: hierarchical-iterative.hh:586
value_type tau
Definition: hierarchical-iterative.hh:63
virtual ~Base()
Definition: hierarchical-iterative.hh:118
value_type inequalityThreshold() const
Get the inequality threshold.
Definition: hierarchical-iterative.hh:387
ComparisonTypes_t comparison
Definition: hierarchical-iterative.hh:533
vector_t df
Definition: hierarchical-iterative.hh:64
void lastIsOptional(bool optional)
Definition: hierarchical-iterative.hh:391
virtual ~HierarchicalIterative()
Definition: hierarchical-iterative.hh:231
Definition: hierarchical-iterative.hh:520
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:60
Indices_t freeVariables_
Unknown of the set of implicit constraints.
Definition: hierarchical-iterative.hh:567
value_type sigma_
The smallest non-zero singular value.
Definition: hierarchical-iterative.hh:579
std::vector< Data > datas_
Definition: hierarchical-iterative.hh:587
void maxIterations(size_type iterations)
Set maximal number of iterations.
Definition: hierarchical-iterative.hh:373
void saturation(const Saturation_t &saturate)
Set the saturation function.
Definition: hierarchical-iterative.hh:259
pinocchio::size_type size_type
Definition: fwd.hh:47
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
vector_t error
Definition: hierarchical-iterative.hh:525
HierarchicalIterative()
Definition: hierarchical-iterative.hh:595
LiegroupElement rightHandSide
Definition: hierarchical-iterative.hh:524
SVD_t svd_
Definition: hierarchical-iterative.hh:588
Box constraints use a Device joint limits.
Definition: hierarchical-iterative.hh:139
vector_t OP_
Definition: hierarchical-iterative.hh:590
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
pinocchio::value_type value_type
Definition: fwd.hh:48
value_type residualError() const
Returns the squared norm of the error vector.
Definition: hierarchical-iterative.hh:426
const size_type & dimension() const
Definition: hierarchical-iterative.hh:411
matrix_t PK
Definition: hierarchical-iterative.hh:529
value_type squaredErrorThreshold_
Definition: hierarchical-iterative.hh:559
std::size_t numberStacks() const
Definition: hierarchical-iterative.hh:409
DevicePtr_t device
Definition: hierarchical-iterative.hh:144
Definition: hierarchical-iterative.hh:219
size_type maxIterations() const
Get maximal number of iterations in config projector.
Definition: hierarchical-iterative.hh:375
std::map< DifferentiableFunctionPtr_t, size_type > iv_
Derivative rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:574
const vector_t & lastStep() const
Accessor to the last step done.
Definition: hierarchical-iterative.hh:509
value_type squaredErrorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:384
const value_type & sigma() const
Definition: hierarchical-iterative.hh:339