composite.cc

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#include <ifopt/composite.h>
 
#include <iomanip>
#include <iostream>
 
namespace ifopt {
 
Component::Component(int num_rows, const std::string& name)
{
  num_rows_ = num_rows;
  name_     = name;
}
 
int Component::GetRows() const
{
  return num_rows_;
}
 
void Component::SetRows(int num_rows)
{
  num_rows_ = num_rows;
}
 
std::string Component::GetName() const
{
  return name_;
}
 
void Component::Print(double tol, int& index) const
{
  // calculate squared bound violation
  VectorXd x      = GetValues();
  VecBound bounds = GetBounds();
 
  std::vector<int> viol_idx;
  for (std::size_t i = 0; i < bounds.size(); ++i) {
    double lower = bounds.at(i).lower_;
    double upper = bounds.at(i).upper_;
    double val   = x(i);
    if (val < lower - tol || upper + tol < val)
      viol_idx.push_back(i);  // constraint out of bounds
  }
 
  std::string black = "\033[0m";
  std::string red   = "\033[31m";
  std::string color = viol_idx.empty() ? black : red;
 
  std::cout.precision(2);
  std::cout << std::fixed << std::left << std::setw(30) << name_ << std::right
            << std::setw(4) << num_rows_ << std::setw(9) << index
            << std::setfill('.') << std::setw(7) << index + num_rows_ - 1
            << std::setfill(' ') << color << std::setw(12) << viol_idx.size()
            << black << std::endl;
 
  index += num_rows_;
}
 
Composite::Composite(const std::string& name, bool is_cost) : Component(0, name)
{
  is_cost_ = is_cost;
}
 
void Composite::AddComponent(const Component::Ptr& c)
{
  // at this point the number of rows must be specified.
  assert(c->GetRows() != kSpecifyLater);
 
  components_.push_back(c);
 
  if (is_cost_)
    SetRows(1);
  else
    SetRows(GetRows() + c->GetRows());
}
 
void Composite::ClearComponents()
{
  components_.clear();
  SetRows(0);
}
 
const Component::Ptr Composite::GetComponent(std::string name) const
{
  for (const auto& c : components_)
    if (c->GetName() == name)
      return c;
 
  assert(false);  // component with name doesn't exist, abort program
  return Component::Ptr();
}
 
Composite::VectorXd Composite::GetValues() const
{
  VectorXd g_all = VectorXd::Zero(GetRows());
 
  int row = 0;
  for (const auto& c : components_) {
    int n_rows = c->GetRows();
    VectorXd g = c->GetValues();
    g_all.middleRows(row, n_rows) += g;
 
    if (!is_cost_)
      row += n_rows;
  }
  return g_all;
}
 
void Composite::SetVariables(const VectorXd& x)
{
  int row = 0;
  for (auto& c : components_) {
    int n_rows = c->GetRows();
    c->SetVariables(x.middleRows(row, n_rows));
    row += n_rows;
  }
}
 
Composite::Jacobian Composite::GetJacobian() const
{  // set number of variables only the first time this function is called,
  // since number doesn't change during the optimization. Improves efficiency.
  if (n_var == -1)
    n_var = components_.empty() ? 0 : components_.front()->GetJacobian().cols();
 
  Jacobian jacobian(GetRows(), n_var);
 
  if (n_var == 0)
    return jacobian;
 
  int row = 0;
  std::vector<Eigen::Triplet<double>> triplet_list;
 
  for (const auto& c : components_) {
    const Jacobian& jac = c->GetJacobian();
    triplet_list.reserve(triplet_list.size() + jac.nonZeros());
 
    for (int k = 0; k < jac.outerSize(); ++k)
      for (Jacobian::InnerIterator it(jac, k); it; ++it)
        triplet_list.push_back(
            Eigen::Triplet<double>(row + it.row(), it.col(), it.value()));
 
    if (!is_cost_)
      row += c->GetRows();
  }
 
  jacobian.setFromTriplets(triplet_list.begin(), triplet_list.end());
  return jacobian;
}
 
Composite::VecBound Composite::GetBounds() const
{
  VecBound bounds_;
  for (const auto& c : components_) {
    VecBound b = c->GetBounds();
    bounds_.insert(bounds_.end(), b.begin(), b.end());
  }
 
  return bounds_;
}
 
const Composite::ComponentVec Composite::GetComponents() const
{
  return components_;
}
 
void Composite::PrintAll() const
{
  int index = 0;
  double tol =
      0.001;  
 
  std::cout << GetName() << ":\n";
  for (auto c : components_) {
    std::cout << "   ";  // indent components
    c->Print(tol, index);
  }
  std::cout << std::endl;
}
 
}  // namespace ifopt