soft_constraint.cc
Go to the documentation of this file.
1 /******************************************************************************
2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without
5 modification, are permitted provided that the following conditions are met:
6 
7 * Redistributions of source code must retain the above copyright notice, this
8  list of conditions and the following disclaimer.
9 
10 * Redistributions in binary form must reproduce the above copyright notice,
11  this list of conditions and the following disclaimer in the documentation
12  and/or other materials provided with the distribution.
13 
14 * Neither the name of the copyright holder nor the names of its
15  contributors may be used to endorse or promote products derived from
16  this software without specific prior written permission.
17 
18 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 ******************************************************************************/
29 
31 
32 namespace towr {
33 
35  :Component(1, "soft-" + constraint->GetName())
36 {
37  constraint_ = constraint;
38  int n_constraints = constraint_->GetRows();
39 
40  // average value of each upper and lower bound
41  b_ = VectorXd(n_constraints);
42  int i=0;
43  for (auto b : constraint_->GetBounds()) {
44  b_(i++) = (b.upper_ + b.lower_)/2.;
45  }
46 
47  // treat all constraints equally by default
48  W_.resize(n_constraints);
49  W_.setOnes();
50 }
51 
54 {
55  VectorXd g = constraint_->GetValues();
56  VectorXd cost = 0.5*(g-b_).transpose()*W_.asDiagonal()*(g-b_);
57  return cost;
58 }
59 
62 {
63  VectorXd g = constraint_->GetValues();
64  Jacobian jac = constraint_->GetJacobian();
65  VectorXd grad = jac.transpose()*W_.asDiagonal()*(g-b_);
66  return grad.transpose().sparseView();
67 }
68 
69 } /* namespace towr */
Jacobian GetJacobian() const override
The row-vector of derivatives of the cost term.
ConstraintPtr constraint_
Component::Ptr ConstraintPtr
SoftConstraint(const ConstraintPtr &constraint)
Creates a soft constraint (=cost) from a hard constraint.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
VectorXd GetValues() const override
average value of each upper and lower bound.
Eigen::VectorXd VectorXd
VectorXd W_
weights how each constraint violation contributes to the cost.


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16