soft_constraint.cc

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#include <towr/costs/soft_constraint.h>

namespace towr {

SoftConstraint::SoftConstraint (const ConstraintPtr& constraint)
    :Component(1, "SoftConstraint-" + constraint->GetName())
{
  constraint_ = constraint;
  int n_constraints = constraint_->GetRows();

  // average value of each upper and lower bound
  b_ = VectorXd(n_constraints);
  int i=0;
  for (auto b : constraint_->GetBounds()) {
    b_(i++) = (b.upper_ + b.lower_)/2.;
  }

  // treat all constraints equally by default
  W_.resize(n_constraints);
  W_.setOnes();
}

SoftConstraint::VectorXd
SoftConstraint::GetValues () const
{
  VectorXd g = constraint_->GetValues();
  VectorXd cost = 0.5*(g-b_).transpose()*W_.asDiagonal()*(g-b_);
  return cost;
}

SoftConstraint::Jacobian
SoftConstraint::GetJacobian () const
{
  VectorXd g   = constraint_->GetValues();
  Jacobian jac = constraint_->GetJacobian();
  VectorXd grad = jac.transpose()*W_.asDiagonal()*(g-b_);
  return grad.transpose().sparseView();
}

} /* namespace towr */