node_cost.cc

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#include <towr/costs/node_cost.h>

#include <cmath>

namespace towr {

NodeCost::NodeCost (const std::string& nodes_id, Dx deriv, int dim, double weight)
    : CostTerm(nodes_id
               +"-dx_"+std::to_string(deriv)
               +"-dim_"+std::to_string(dim))
{
  node_id_ = nodes_id;
  deriv_ = deriv;
  dim_   = dim;
  weight_ = weight;
}

void
NodeCost::InitVariableDependedQuantities (const VariablesPtr& x)
{
  nodes_ = x->GetComponent<NodesVariables>(node_id_);
}

double
NodeCost::GetCost () const
{
  double cost;
  for (auto n : nodes_->GetNodes()) {
    double val = n.at(deriv_)(dim_);
    cost += weight_*std::pow(val,2);
  }

  return cost;
}

void
NodeCost::FillJacobianBlock (std::string var_set, Jacobian& jac) const
{
  if (var_set == node_id_) {
    for (int i=0; i<nodes_->GetRows(); ++i)
      for (auto nvi : nodes_->GetNodeValuesInfo(i))
        if (nvi.deriv_==deriv_ && nvi.dim_==dim_) {
          double val = nodes_->GetNodes().at(nvi.id_).at(deriv_)(dim_);
          jac.coeffRef(0, i) += weight_*2.0*val;
        }
  }
}

} /* namespace towr */