nodes_variables.cc

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#include <towr/variables/nodes_variables.h>

namespace towr {


NodesVariables::NodesVariables (const std::string& name)
    : VariableSet(kSpecifyLater, name)
{
}

int
NodesVariables::GetOptIndex(const NodeValueInfo& nvi_des) const
{
  // could also cache this as map for more efficiency, but adding complexity
  for (int idx=0; idx<GetRows(); ++idx)
    for ( NodeValueInfo nvi : GetNodeValuesInfo(idx))
      if ( nvi == nvi_des )
        return idx;

  return NodeValueNotOptimized; // index representing these quantities doesn't exist
}

Eigen::VectorXd
NodesVariables::GetValues () const
{
  VectorXd x(GetRows());

  for (int idx=0; idx<x.rows(); ++idx)
    for (auto nvi : GetNodeValuesInfo(idx))
      x(idx) = nodes_.at(nvi.id_).at(nvi.deriv_)(nvi.dim_);

  return x;
}

void
NodesVariables::SetVariables (const VectorXd& x)
{
  for (int idx=0; idx<x.rows(); ++idx)
    for (auto nvi : GetNodeValuesInfo(idx))
      nodes_.at(nvi.id_).at(nvi.deriv_)(nvi.dim_) = x(idx);

  UpdateObservers();
}

void
NodesVariables::UpdateObservers() const
{
  for (auto& o : observers_)
    o->UpdateNodes();
}

void
NodesVariables::AddObserver(ObserverPtr const o)
{
   observers_.push_back(o);
}

int
NodesVariables::GetNodeId (int poly_id, Side side)
{
  return poly_id + side;
}

const std::vector<Node>
NodesVariables::GetBoundaryNodes(int poly_id) const
{
  std::vector<Node> nodes;
  nodes.push_back(nodes_.at(GetNodeId(poly_id, Side::Start)));
  nodes.push_back(nodes_.at(GetNodeId(poly_id, Side::End)));
  return nodes;
}

int
NodesVariables::GetDim() const
{
  return n_dim_;
}

int
NodesVariables::GetPolynomialCount() const
{
  return nodes_.size() - 1;
}

NodesVariables::VecBound
NodesVariables::GetBounds () const
{
  return bounds_;
}

const std::vector<Node>
NodesVariables::GetNodes() const
{
  return nodes_;
}

void
NodesVariables::SetByLinearInterpolation(const VectorXd& initial_val,
                                         const VectorXd& final_val,
                                         double t_total)
{
  // only set those that are part of optimization variables,
  // do not overwrite phase-based parameterization
  VectorXd dp = final_val-initial_val;
  VectorXd average_velocity = dp / t_total;
  int num_nodes = nodes_.size();

  for (int idx=0; idx<GetRows(); ++idx) {
    for (auto nvi : GetNodeValuesInfo(idx)) {

      if (nvi.deriv_ == kPos) {
        VectorXd pos = initial_val + nvi.id_/static_cast<double>(num_nodes-1)*dp;
        nodes_.at(nvi.id_).at(kPos)(nvi.dim_) = pos(nvi.dim_);
      }

      if (nvi.deriv_ == kVel) {
        nodes_.at(nvi.id_).at(kVel)(nvi.dim_) = average_velocity(nvi.dim_);
      }
    }
  }
}

void
NodesVariables::AddBounds(int node_id, Dx deriv,
                 const std::vector<int>& dimensions,
                 const VectorXd& val)
{
  for (auto dim : dimensions)
    AddBound(NodeValueInfo(node_id, deriv, dim), val(dim));
}

void
NodesVariables::AddBound (const NodeValueInfo& nvi_des, double val)
{
  for (int idx=0; idx<GetRows(); ++idx)
    for (auto nvi : GetNodeValuesInfo(idx))
      if (nvi == nvi_des)
        bounds_.at(idx) = ifopt::Bounds(val, val);
}

void
NodesVariables::AddStartBound (Dx d, const std::vector<int>& dimensions, const VectorXd& val)
{
  AddBounds(0, d, dimensions, val);
}

void
NodesVariables::AddFinalBound (Dx deriv, const std::vector<int>& dimensions,
                      const VectorXd& val)
{
  AddBounds(nodes_.size()-1, deriv, dimensions, val);
}

NodesVariables::NodeValueInfo::NodeValueInfo(int node_id, Dx deriv, int node_dim)
{
  id_    = node_id;
  deriv_ = deriv;
  dim_   = node_dim;
}

int
NodesVariables::NodeValueInfo::operator==(const NodeValueInfo& right) const
{
  return (id_    == right.id_)
      && (deriv_ == right.deriv_)
      && (dim_   == right.dim_);
};

} /* namespace towr */