code-generator-base.hpp

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//
// Copyright (c) 2018-2020 CNRS INRIA
//
 
#ifndef __pinocchio_utils_code_generator_base_hpp__
#define __pinocchio_utils_code_generator_base_hpp__
 
#include "pinocchio/codegen/cppadcg.hpp"
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
 
namespace pinocchio
{
 
  template<typename _Scalar>
  struct CodeGenBase
  {
    typedef _Scalar Scalar;
    typedef CppAD::cg::CG<Scalar> CGScalar;
    typedef CppAD::AD<CGScalar> ADScalar;
 
    enum
    {
      Options = 0
    };
 
    typedef pinocchio::ModelTpl<Scalar, Options> Model;
    typedef pinocchio::DataTpl<Scalar, Options> Data;
    typedef pinocchio::ModelTpl<CGScalar, Options> CGModel;
    typedef pinocchio::DataTpl<CGScalar, Options> CGData;
    typedef pinocchio::ModelTpl<ADScalar, Options> ADModel;
    typedef pinocchio::DataTpl<ADScalar, Options> ADData;
 
    typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs;
    typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
    typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options | Eigen::RowMajor>
      RowMatrixXs;
    typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, 1, Options> ADVectorXs;
    typedef Eigen::Matrix<ADScalar, Eigen::Dynamic, Eigen::Dynamic, Options> ADMatrixXs;
 
    typedef typename Model::ConfigVectorType ConfigVectorType;
    typedef typename Model::TangentVectorType TangentVectorType;
 
    typedef typename ADModel::ConfigVectorType ADConfigVectorType;
    typedef typename ADModel::TangentVectorType ADTangentVectorType;
 
    typedef CppAD::ADFun<CGScalar> ADFun;
 
    CodeGenBase(
      const Model & model,
      const Eigen::DenseIndex dim_input,
      const Eigen::DenseIndex dim_output,
      const std::string & function_name,
      const std::string & library_name)
    : ad_model(model.template cast<ADScalar>())
    , ad_data(ad_model)
    , function_name(function_name)
    , library_name(library_name + "_" + model.name)
    , build_forward(true)
    , build_jacobian(true)
    {
      ad_X = ADVectorXs(dim_input);
      ad_Y = ADVectorXs(dim_output);
 
      y = VectorXs(ad_Y.size());
 
      jac = RowMatrixXs(ad_Y.size(), ad_X.size());
    }
 
    virtual ~CodeGenBase()
    {
    }
 
    virtual void buildMap() = 0;
 
    void initLib()
    {
      buildMap();
 
      // generates source code
      cgen_ptr = std::unique_ptr<CppAD::cg::ModelCSourceGen<Scalar>>(
        new CppAD::cg::ModelCSourceGen<Scalar>(ad_fun, function_name));
      cgen_ptr->setCreateForwardZero(build_forward);
      cgen_ptr->setCreateJacobian(build_jacobian);
      libcgen_ptr = std::unique_ptr<CppAD::cg::ModelLibraryCSourceGen<Scalar>>(
        new CppAD::cg::ModelLibraryCSourceGen<Scalar>(*cgen_ptr));
 
      dynamicLibManager_ptr = std::unique_ptr<CppAD::cg::DynamicModelLibraryProcessor<Scalar>>(
        new CppAD::cg::DynamicModelLibraryProcessor<Scalar>(*libcgen_ptr, library_name));
    }
 
    CppAD::cg::ModelCSourceGen<Scalar> & codeGenerator()
    {
      return *cgen_ptr;
    }
 
    void compileLib(
      const std::string & gcc_path = "/usr/bin/gcc", const std::string & compile_options = "-Ofast")
    {
      CppAD::cg::GccCompiler<Scalar> compiler(gcc_path);
      std::vector<std::string> compile_flags = compiler.getCompileFlags();
      compile_flags[0] = compile_options;
      compiler.setCompileFlags(compile_flags);
      dynamicLibManager_ptr->createDynamicLibrary(compiler, false);
    }
 
    bool existLib() const
    {
      const std::string filename = dynamicLibManager_ptr->getLibraryName()
                                   + CppAD::cg::system::SystemInfo<>::DYNAMIC_LIB_EXTENSION;
      std::ifstream file(filename.c_str());
      return file.good();
    }
 
    void compileAndLoadLib(const std::string & gcc_path)
    {
      compileLib(gcc_path);
      loadLib(false);
    }
 
    void loadLib(
      const bool generate_if_not_exist = true,
      const std::string & gcc_path = "/usr/bin/gcc",
      const std::string & compile_options = "-Ofast")
    {
      if (!existLib() && generate_if_not_exist)
        compileLib(gcc_path, compile_options);
 
      const auto it = dynamicLibManager_ptr->getOptions().find("dlOpenMode");
      if (it == dynamicLibManager_ptr->getOptions().end())
      {
        dynamicLib_ptr.reset(new CppAD::cg::LinuxDynamicLib<Scalar>(
          dynamicLibManager_ptr->getLibraryName()
          + CppAD::cg::system::SystemInfo<>::DYNAMIC_LIB_EXTENSION));
      }
      else
      {
        int dlOpenMode = std::stoi(it->second);
        dynamicLib_ptr.reset(new CppAD::cg::LinuxDynamicLib<Scalar>(
          dynamicLibManager_ptr->getLibraryName()
            + CppAD::cg::system::SystemInfo<>::DYNAMIC_LIB_EXTENSION,
          dlOpenMode));
      }
 
      generatedFun_ptr = dynamicLib_ptr->model(function_name.c_str());
    }
 
    template<typename Vector>
    void evalFunction(const Eigen::MatrixBase<Vector> & x)
    {
      assert(build_forward);
 
      generatedFun_ptr->ForwardZero(PINOCCHIO_EIGEN_CONST_CAST(Vector, x), y);
    }
 
    template<typename Vector>
    void evalJacobian(const Eigen::MatrixBase<Vector> & x)
    {
      assert(build_jacobian);
 
      CppAD::cg::ArrayView<const Scalar> x_(
        PINOCCHIO_EIGEN_CONST_CAST(Vector, x).data(), (size_t)x.size());
      CppAD::cg::ArrayView<Scalar> jac_(jac.data(), (size_t)jac.size());
      generatedFun_ptr->Jacobian(x_, jac_);
    }
 
    Eigen::DenseIndex getInputDimension() const
    {
      return ad_X.size();
    }
    Eigen::DenseIndex getOutputDimension() const
    {
      return ad_Y.size();
    }
 
  protected:
    ADModel ad_model;
    ADData ad_data;
 
    const std::string function_name;
    const std::string library_name;
 
    bool build_forward;
 
    bool build_jacobian;
 
    ADVectorXs ad_X, ad_Y;
    ADFun ad_fun;
 
    ADConfigVectorType ad_q, ad_q_plus;
    ADTangentVectorType ad_dq, ad_v, ad_a;
 
    VectorXs y;
    RowMatrixXs jac;
 
    std::unique_ptr<CppAD::cg::ModelCSourceGen<Scalar>> cgen_ptr;
    std::unique_ptr<CppAD::cg::ModelLibraryCSourceGen<Scalar>> libcgen_ptr;
    std::unique_ptr<CppAD::cg::DynamicModelLibraryProcessor<Scalar>> dynamicLibManager_ptr;
    std::unique_ptr<CppAD::cg::DynamicLib<Scalar>> dynamicLib_ptr;
    std::unique_ptr<CppAD::cg::GenericModel<Scalar>> generatedFun_ptr;
 
  }; // struct CodeGenBase
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_utils_code_generator_base_hpp__