delassus-operator-sparse.hpp

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//
// Copyright (c) 2024 INRIA
//
 
#ifndef __pinocchio_algorithm_delassus_operator_sparse_hpp__
#define __pinocchio_algorithm_delassus_operator_sparse_hpp__
 
#include "pinocchio/algorithm/fwd.hpp"
#include "pinocchio/algorithm/delassus-operator-base.hpp"
 
namespace pinocchio
{
 
  namespace internal
  {
 
    template<typename Derived>
    struct SimplicialCholeskyWrapper : public Derived
    {
      typedef Eigen::SimplicialCholeskyBase<Derived> Base;
 
      using Base::derived;
      using Base::m_diag;
      using Base::m_info;
      using Base::m_matrix;
      using Base::m_P;
      using Base::m_Pinv;
 
      template<typename Rhs, typename Dest, typename Temporary>
      void _solve_impl(
        const Eigen::MatrixBase<Rhs> & b,
        Eigen::MatrixBase<Dest> & dest,
        Eigen::MatrixBase<Temporary> & tmp) const
      {
        //    eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for
        //    solving, you must first call either compute() or symbolic()/numeric()");
        //    eigen_assert(m_matrix.rows()==b.rows());
 
        if (m_info != Eigen::Success)
          return;
 
        if (m_P.size() > 0)
          tmp.noalias() = m_P * b;
        else
          tmp = b;
 
        if (m_matrix.nonZeros() > 0) // otherwise L==I
          derived().matrixL().solveInPlace(tmp);
 
        if (m_diag.size() > 0)
          tmp = m_diag.asDiagonal().inverse() * tmp;
 
        if (m_matrix.nonZeros() > 0) // otherwise U==I
          derived().matrixU().solveInPlace(tmp);
 
        if (m_P.size() > 0)
          dest.noalias() = m_Pinv * tmp;
      }
 
    }; // SimplicialCholeskyWrapper
 
    template<typename SparseCholeskySolver>
    struct getSparseCholeskySolverBase;
 
    template<typename SparseCholeskySolver> //, typename Base = typename SparseCholeskySolver::Base>
    struct SparseSolveInPlaceMethod;
 
#ifdef PINOCCHIO_WITH_ACCELERATE_SUPPORT
    template<typename MatrixType, int UpLo, SparseFactorization_t Solver, bool EnforceSquare>
    struct SparseSolveInPlaceMethod<Eigen::AccelerateImpl<MatrixType, UpLo, Solver, EnforceSquare>>
    {
      typedef Eigen::AccelerateImpl<MatrixType, UpLo, Solver, EnforceSquare> SparseCholeskySolver;
 
      template<typename Rhs, typename Dest, typename Temporary>
      static void run(
        const SparseCholeskySolver & solver,
        const Eigen::MatrixBase<Rhs> & mat,
        const Eigen::MatrixBase<Dest> & dest,
        Eigen::MatrixBase<Temporary> & /*tmp*/)
      {
        dest.const_cast_derived() = solver.solve(mat.derived());
      }
    };
#endif
 
    template<typename SparseCholeskySolver>
    struct SparseSolveInPlaceMethod
    {
      template<typename Rhs, typename Dest, typename Temporary>
      static void run(
        const SparseCholeskySolver & solver,
        const Eigen::MatrixBase<Rhs> & mat,
        const Eigen::MatrixBase<Dest> & dest,
        Eigen::MatrixBase<Temporary> & tmp)
      {
        static_assert(
          std::is_base_of<
            Eigen::SimplicialCholeskyBase<SparseCholeskySolver>, SparseCholeskySolver>::value,
          "The solver is not a base of SimplicialCholeskyBase.");
        typedef SimplicialCholeskyWrapper<SparseCholeskySolver> CholeskyWrapper;
 
        const CholeskyWrapper & wrapper = reinterpret_cast<const CholeskyWrapper &>(solver);
        wrapper._solve_impl(mat, dest.const_cast_derived(), tmp.derived());
      }
    };
 
  } // namespace internal
 
  template<typename _Scalar, int _Options, class _SparseCholeskyDecomposition>
  struct traits<DelassusOperatorSparseTpl<_Scalar, _Options, _SparseCholeskyDecomposition>>
  {
    typedef _SparseCholeskyDecomposition CholeskyDecomposition;
    typedef typename CholeskyDecomposition::MatrixType SparseMatrix;
    typedef _Scalar Scalar;
 
    enum
    {
      Options = _Options,
      RowsAtCompileTime = Eigen::Dynamic
    };
 
    typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> Vector;
    typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> DenseMatrix;
  };
 
  template<typename _Scalar, int _Options, class SparseCholeskyDecomposition>
  struct DelassusOperatorSparseTpl
  : DelassusOperatorBase<DelassusOperatorSparseTpl<_Scalar, _Options, SparseCholeskyDecomposition>>
  {
    typedef DelassusOperatorSparseTpl Self;
    typedef typename traits<Self>::Scalar Scalar;
    enum
    {
      Options = traits<Self>::Options,
      RowsAtCompileTime = traits<Self>::RowsAtCompileTime
    };
 
    typedef typename traits<Self>::SparseMatrix SparseMatrix;
    typedef typename traits<Self>::Vector Vector;
    typedef typename traits<Self>::DenseMatrix DenseMatrix;
    typedef SparseCholeskyDecomposition CholeskyDecomposition;
    typedef DelassusOperatorBase<Self> Base;
 
    template<typename MatrixDerived>
    explicit DelassusOperatorSparseTpl(const Eigen::SparseMatrixBase<MatrixDerived> & mat)
    : Base(mat.rows())
    , delassus_matrix(mat)
    , delassus_matrix_plus_damping(mat)
    , llt(mat)
    , damping(Vector::Zero(mat.rows()))
    , tmp(mat.rows())
    {
      PINOCCHIO_CHECK_ARGUMENT_SIZE(mat.rows(), mat.cols());
    }
 
    template<typename VectorLike>
    void updateDamping(const Eigen::MatrixBase<VectorLike> & vec)
    {
      for (Eigen::DenseIndex k = 0; k < size(); ++k)
      {
        delassus_matrix_plus_damping.coeffRef(k, k) += -damping[k] + vec[k];
      }
      damping = vec;
      PINOCCHIO_EIGEN_MALLOC_SAVE_STATUS();
      PINOCCHIO_EIGEN_MALLOC_ALLOWED();
      llt.factorize(delassus_matrix_plus_damping);
      PINOCCHIO_EIGEN_MALLOC_RESTORE_STATUS();
    }
 
    void updateDamping(const Scalar & mu)
    {
      updateDamping(Vector::Constant(size(), mu));
    }
 
    template<typename MatrixLike>
    void solveInPlace(const Eigen::MatrixBase<MatrixLike> & mat) const
    {
      internal::SparseSolveInPlaceMethod<CholeskyDecomposition>::run(
        llt, mat.derived(), mat.const_cast_derived(), tmp);
    }
 
    template<typename MatrixLike>
    typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixLike)
      solve(const Eigen::MatrixBase<MatrixLike> & mat) const
    {
      typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixLike) res(mat);
      solveInPlace(res);
      return res;
    }
 
    template<typename MatrixDerivedIn, typename MatrixDerivedOut>
    void solve(
      const Eigen::MatrixBase<MatrixDerivedIn> & x,
      const Eigen::MatrixBase<MatrixDerivedOut> & res) const
    {
      res.const_cast_derived() = x;
      llt._solve_impl(x, res.const_cast_derived());
    }
 
    template<typename MatrixIn, typename MatrixOut>
    void applyOnTheRight(
      const Eigen::MatrixBase<MatrixIn> & x, const Eigen::MatrixBase<MatrixOut> & res_) const
    {
      MatrixOut & res = res_.const_cast_derived();
      res.noalias() = delassus_matrix * x;
      res.array() += damping.array() * x.array();
    }
 
    template<typename MatrixDerived>
    typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixDerived)
    operator*(const Eigen::MatrixBase<MatrixDerived> & x) const
    {
      typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixDerived) ReturnType;
 
      PINOCCHIO_CHECK_ARGUMENT_SIZE(x.rows(), size());
      ReturnType res(x.rows(), x.cols());
      applyOnTheRight(x, res);
      return res;
    }
 
    Eigen::DenseIndex size() const
    {
      return delassus_matrix.rows();
    }
    Eigen::DenseIndex rows() const
    {
      return delassus_matrix.rows();
    }
    Eigen::DenseIndex cols() const
    {
      return delassus_matrix.cols();
    }
 
    SparseMatrix matrix() const
    {
      delassus_matrix_plus_damping = delassus_matrix;
      delassus_matrix_plus_damping += damping.asDiagonal();
      return delassus_matrix_plus_damping;
    }
 
    SparseMatrix inverse() const
    {
      SparseMatrix identity_matrix(size(), size());
      identity_matrix.setIdentity();
      SparseMatrix res = llt.solve(identity_matrix);
      return res;
    }
 
  protected:
    SparseMatrix delassus_matrix;
    mutable SparseMatrix delassus_matrix_plus_damping;
    CholeskyDecomposition llt;
    Vector damping;
    mutable Vector tmp;
 
  }; // struct DelassusOperatorSparseTpl
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_algorithm_delassus_operator_sparse_hpp__