hpp-constraints  5.0.0
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), iq2iv_() {
136  iq2iv_.resize(ub.size());
137  for (size_type i = 0; i < ub.size(); ++i) {
138  iq2iv_[i] = i;
139  }
140  }
141  Bounds(const vector_t& lb, const vector_t& ub, const Eigen::VectorXi& iq2iv)
142  : lb(lb), ub(ub), iq2iv_(iq2iv) {}
144  Eigen::VectorXi iq2iv_;
145 };
147 struct Device : Base {
149  bool saturate(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi& saturation);
150  Device() {}
151  Device(const DevicePtr_t& device) : device(device) {}
153 };
154 } // namespace saturation
155 
241  public:
244 
245  enum Status { ERROR_INCREASED, MAX_ITERATION_REACHED, INFEASIBLE, SUCCESS };
246  typedef shared_ptr<saturation::Base> Saturation_t;
247 
248  HierarchicalIterative(const LiegroupSpacePtr_t& configSpace);
249 
251 
253 
256 
258  const LiegroupSpacePtr_t& configSpace() const { return configSpace_; }
262  virtual bool contains(const ImplicitPtr_t& numericalConstraint) const;
263 
269  virtual bool add(const ImplicitPtr_t& constraint,
270  const std::size_t& priority);
271 
277  virtual void merge(const HierarchicalIterative& other);
278 
280  void saturation(const Saturation_t& saturate) { saturate_ = saturate; }
281 
283  const Saturation_t& saturation() const { return saturate_; }
284 
286 
289 
304  template <typename LineSearchType>
305  Status solve(vectorOut_t arg, LineSearchType ls = LineSearchType()) const;
306 
321  inline Status solve(vectorOut_t arg) const {
322  return solve(arg, DefaultLineSearch());
323  }
324 
328  bool isSatisfied(vectorIn_t arg) const {
329  computeValue<false>(arg);
330  computeError();
331  return squaredNorm_ < squaredErrorThreshold_;
332  }
333 
338  bool isSatisfied(vectorIn_t arg, value_type errorThreshold) const {
339  computeValue<false>(arg);
340  computeError();
341  return squaredNorm_ < errorThreshold * errorThreshold;
342  }
343 
353  bool isConstraintSatisfied(const ImplicitPtr_t& constraint, vectorIn_t arg,
354  vectorOut_t error, bool& constraintFound) const;
355 
360  const value_type& sigma() const { return sigma_; }
361 
363 
366 
373  void freeVariables(const segments_t intervals) {
374  freeVariables_ = Indices_t();
375  for (std::size_t i = 0; i < intervals.size(); ++i)
376  freeVariables_.addRow(intervals[i].first, intervals[i].second);
377  freeVariables_.updateIndices<true, true, true>();
378  update();
379  }
380 
385  void freeVariables(const Indices_t& indices) {
386  freeVariables_ = indices;
387  update();
388  }
389 
391  const Indices_t& freeVariables() const { return freeVariables_; }
392 
394  void maxIterations(size_type iterations) { maxIterations_ = iterations; }
396  size_type maxIterations() const { return maxIterations_; }
397 
399  void errorThreshold(const value_type& threshold) {
400  squaredErrorThreshold_ = threshold * threshold;
401  }
403  value_type errorThreshold() const { return sqrt(squaredErrorThreshold_); }
405  value_type squaredErrorThreshold() const { return squaredErrorThreshold_; }
406 
408  value_type inequalityThreshold() const { return inequalityThreshold_; }
410  void inequalityThreshold(const value_type& it) { inequalityThreshold_ = it; }
411 
412  void lastIsOptional(bool optional) { lastIsOptional_ = optional; }
413 
414  bool lastIsOptional() const { return lastIsOptional_; }
415 
416  // Set whether the constraints are solved level by level
417  //
418  // If true, the solver will consider only the higher level of
419  // priority that is not satisfied when computing the direction
420  // of descent.
421  void solveLevelByLevel(bool solveLevelByLevel) {
422  solveLevelByLevel_ = solveLevelByLevel;
423  }
424 
425  // Get whether the constraints are solved level by level
426  bool solveLevelByLevel() const { return solveLevelByLevel_; }
428 
431 
433  const ImplicitConstraintSet& constraints(const std::size_t priority) {
434  assert(priority < stacks_.size());
435  return stacks_[priority];
436  }
437 
439  const NumericalConstraints_t& constraints() const { return constraints_; }
440 
441  std::size_t numberStacks() const { return stacks_.size(); }
442 
443  const size_type& dimension() const { return dimension_; }
444 
447  const size_type& reducedDimension() const { return reducedDimension_; }
448 
450  ArrayXb activeParameters() const;
451 
453  ArrayXb activeDerivativeParameters() const;
454 
456 
458  value_type residualError() const { return squaredNorm_; }
459 
461  void residualError(vectorOut_t error) const;
462 
471  bool definesSubmanifoldOf(const HierarchicalIterative& solver) const;
472 
475 
482  vector_t rightHandSideFromConfig(ConfigurationIn_t config);
483 
490  virtual bool rightHandSideFromConfig(const ImplicitPtr_t& constraint,
491  ConfigurationIn_t config);
497  virtual bool rightHandSide(const ImplicitPtr_t& constraint, vectorIn_t rhs);
498 
500  virtual bool getRightHandSide(const ImplicitPtr_t& constraint,
501  vectorOut_t rhs) const;
502 
507  virtual void rightHandSide(vectorIn_t rhs);
508 
511  void rightHandSideAt(const value_type& s);
512 
517  vector_t rightHandSide() const;
518 
522  size_type rightHandSideSize() const;
523 
525 
529 
531  template <bool ComputeJac>
532  void computeValue(vectorIn_t arg) const;
533  void computeSaturation(vectorIn_t arg) const;
534  void getValue(vectorOut_t v) const;
535  void getReducedJacobian(matrixOut_t J) const;
538  void computeError() const;
539 
541  const vector_t& lastStep() const { return dq_; }
542 
543  virtual bool integrate(vectorIn_t from, vectorIn_t velocity,
544  vectorOut_t result) const;
546 
547  virtual std::ostream& print(std::ostream& os) const;
548 
549  protected:
550  typedef Eigen::JacobiSVD<matrix_t> SVD_t;
551 
552  struct Data {
554  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
558  matrix_t jacobian, reducedJ;
559 
560  SVD_t svd;
562 
564 
566  std::vector<std::size_t> inequalityIndices;
569  };
570 
573  void update();
574 
578  virtual void computeActiveRowsOfJ(std::size_t iStack);
579 
587  void computeDescentDirection() const;
588  void expandDqSmall() const;
589  void saturate(vectorOut_t arg) const;
590 
591  value_type squaredErrorThreshold_, inequalityThreshold_;
593 
594  std::vector<ImplicitConstraintSet> stacks_;
600  Indices_t freeVariables_;
601  Saturation_t saturate_;
605  std::map<DifferentiableFunctionPtr_t, size_type> iq_;
607  std::map<DifferentiableFunctionPtr_t, size_type> iv_;
609  std::map<DifferentiableFunctionPtr_t, std::size_t> priority_;
610 
613 
614  mutable vector_t dq_, dqSmall_;
616  mutable Eigen::VectorXi saturation_, reducedSaturation_;
618  mutable ArrayXb tmpSat_;
620  mutable std::vector<Data> datas_;
621  mutable SVD_t svd_;
622  mutable vector_t OM_;
623  mutable vector_t OP_;
624 
626 
627  protected:
629 
630  private:
631  HPP_SERIALIZABLE_SPLIT();
632 }; // class HierarchicalIterative
634 inline std::ostream& operator<<(std::ostream& os,
635  const HierarchicalIterative& hs) {
636  return hs.print(os);
637 }
638 } // namespace solver
639 } // namespace constraints
640 } // namespace hpp
641 
642 #endif // HPP_CONSTRAINTS_SOLVER_HIERARCHICAL_ITERATIVE_HH
std::vector< segment_t > segments_t
Definition: fwd.hh:84
std::ostream & operator<<(std::ostream &os, const HierarchicalIterative &hs)
Definition: hierarchical-iterative.hh:634
pinocchio::vector_t vector_t
Definition: fwd.hh:59
Device(const DevicePtr_t &device)
Definition: hierarchical-iterative.hh:151
vector_t ub
Definition: hierarchical-iterative.hh:143
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
Definition: implicit-constraint-set.hh:45
NumericalConstraints_t constraints_
Members moved from core::ConfigProjector.
Definition: hierarchical-iterative.hh:603
Definition: hierarchical-iterative.hh:54
void inequalityThreshold(const value_type &it)
set the inequality threshold
Definition: hierarchical-iterative.hh:410
bool lastIsOptional_
Definition: hierarchical-iterative.hh:597
std::map< DifferentiableFunctionPtr_t, std::size_t > priority_
Priority level of constraint.
Definition: hierarchical-iterative.hh:609
Eigen::MatrixBlocks< false, false > activeRowsOfJ
Definition: hierarchical-iterative.hh:568
size_type maxIterations_
Definition: hierarchical-iterative.hh:592
void errorThreshold(const value_type &threshold)
Set error threshold.
Definition: hierarchical-iterative.hh:399
Definition: hierarchical-iterative.hh:85
std::vector< std::size_t > inequalityIndices
Definition: hierarchical-iterative.hh:566
Function()
Definition: hierarchical-iterative.hh:127
Eigen::RowBlockIndices equalityIndices
Definition: hierarchical-iterative.hh:567
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:69
value_type K
Definition: hierarchical-iterative.hh:92
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
ArrayXb tmpSat_
Definition: hierarchical-iterative.hh:618
matrix_t reducedJ
Definition: hierarchical-iterative.hh:558
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:175
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
lineSearch::FixedSequence DefaultLineSearch
Definition: hierarchical-iterative.hh:243
LiegroupSpacePtr_t configSpace_
Definition: hierarchical-iterative.hh:595
SVD_t svd
Definition: hierarchical-iterative.hh:560
std::vector< ImplicitConstraintSet > stacks_
Definition: hierarchical-iterative.hh:594
shared_ptr< saturation::Base > Saturation_t
Definition: hierarchical-iterative.hh:246
Bounds(const vector_t &lb, const vector_t &ub, const Eigen::VectorXi &iq2iv)
Definition: hierarchical-iterative.hh:141
simple box constraints
Definition: hierarchical-iterative.hh:132
pinocchio::matrix_t matrix_t
Definition: fwd.hh:56
Eigen::RowBlockIndices Indices_t
Definition: hierarchical-iterative.hh:242
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:80
value_type K
Definition: hierarchical-iterative.hh:77
size_type maxRank
Definition: hierarchical-iterative.hh:563
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:258
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:283
vector_t dqSmall_
Definition: hierarchical-iterative.hh:614
No line search. Use .
Definition: hierarchical-iterative.hh:47
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
Status
Definition: hierarchical-iterative.hh:245
Definition: hierarchical-iterative.hh:70
vector_t OM_
Definition: hierarchical-iterative.hh:622
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
const size_type & reducedDimension() const
Definition: hierarchical-iterative.hh:447
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:391
Bounds(const vector_t &lb, const vector_t &ub)
Definition: hierarchical-iterative.hh:135
Status solve(vectorOut_t arg) const
Definition: hierarchical-iterative.hh:321
void solveLevelByLevel(bool solveLevelByLevel)
Definition: hierarchical-iterative.hh:421
void freeVariables(const Indices_t &indices)
Definition: hierarchical-iterative.hh:385
size_type reducedDimension_
Definition: hierarchical-iterative.hh:596
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:373
bool isSatisfied(vectorIn_t arg) const
Definition: hierarchical-iterative.hh:328
const NumericalConstraints_t & constraints() const
Get constraints (implicit and explicit)
Definition: hierarchical-iterative.hh:439
const ImplicitConstraintSet & constraints(const std::size_t priority)
Get set of constraints for a give priority level.
Definition: hierarchical-iterative.hh:433
Configuration_t qSat_
Definition: hierarchical-iterative.hh:617
matrix_t reducedJ_
Definition: hierarchical-iterative.hh:615
bool isSatisfied(vectorIn_t arg, value_type errorThreshold) const
Definition: hierarchical-iterative.hh:338
value_type errorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:403
Device()
Definition: hierarchical-iterative.hh:150
Eigen::VectorXi saturation_
Definition: hierarchical-iterative.hh:616
Bounds()
Definition: hierarchical-iterative.hh:134
Saturation_t saturate_
Definition: hierarchical-iterative.hh:601
bool lastIsOptional() const
Definition: hierarchical-iterative.hh:414
std::map< DifferentiableFunctionPtr_t, size_type > iq_
Value rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:605
Eigen::VectorXi iq2iv_
Definition: hierarchical-iterative.hh:144
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:550
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:619
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:408
ComparisonTypes_t comparison
Definition: hierarchical-iterative.hh:565
vector_t df
Definition: hierarchical-iterative.hh:64
void lastIsOptional(bool optional)
Definition: hierarchical-iterative.hh:412
virtual ~HierarchicalIterative()
Definition: hierarchical-iterative.hh:252
Definition: hierarchical-iterative.hh:552
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:88
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:61
Indices_t freeVariables_
Unknown of the set of implicit constraints.
Definition: hierarchical-iterative.hh:600
value_type sigma_
The smallest non-zero singular value.
Definition: hierarchical-iterative.hh:612
std::vector< Data > datas_
Definition: hierarchical-iterative.hh:620
void maxIterations(size_type iterations)
Set maximal number of iterations.
Definition: hierarchical-iterative.hh:394
void saturation(const Saturation_t &saturate)
Set the saturation function.
Definition: hierarchical-iterative.hh:280
pinocchio::size_type size_type
Definition: fwd.hh:47
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
vector_t error
Definition: hierarchical-iterative.hh:557
HierarchicalIterative()
Definition: hierarchical-iterative.hh:628
LiegroupElement rightHandSide
Definition: hierarchical-iterative.hh:556
SVD_t svd_
Definition: hierarchical-iterative.hh:621
Box constraints use a Device joint limits.
Definition: hierarchical-iterative.hh:147
vector_t OP_
Definition: hierarchical-iterative.hh:623
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:458
const size_type & dimension() const
Definition: hierarchical-iterative.hh:443
matrix_t PK
Definition: hierarchical-iterative.hh:561
value_type squaredErrorThreshold_
Definition: hierarchical-iterative.hh:591
std::size_t numberStacks() const
Definition: hierarchical-iterative.hh:441
DevicePtr_t device
Definition: hierarchical-iterative.hh:152
Definition: hierarchical-iterative.hh:240
size_type maxIterations() const
Get maximal number of iterations in config projector.
Definition: hierarchical-iterative.hh:396
std::map< DifferentiableFunctionPtr_t, size_type > iv_
Derivative rank of constraint in its priority level.
Definition: hierarchical-iterative.hh:607
bool solveLevelByLevel_
Definition: hierarchical-iterative.hh:598
const vector_t & lastStep() const
Accessor to the last step done.
Definition: hierarchical-iterative.hh:541
bool solveLevelByLevel() const
Definition: hierarchical-iterative.hh:426
value_type squaredErrorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:405
const value_type & sigma() const
Definition: hierarchical-iterative.hh:360