node_cost.cc
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without
00005 modification, are permitted provided that the following conditions are met:
00006 
00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
00009 
00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
00012   and/or other materials provided with the distribution.
00013 
00014 * Neither the name of the copyright holder nor the names of its
00015   contributors may be used to endorse or promote products derived from
00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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00028 ******************************************************************************/
00029 
00030 #include <towr/costs/node_cost.h>
00031 
00032 #include <cmath>
00033 
00034 namespace towr {
00035 
00036 NodeCost::NodeCost (const std::string& nodes_id, Dx deriv, int dim)
00037     : CostTerm("Node Cost")
00038 {
00039   node_id_ = nodes_id;
00040   deriv_ = deriv;
00041   dim_   = dim;
00042 }
00043 
00044 void
00045 NodeCost::InitVariableDependedQuantities (const VariablesPtr& x)
00046 {
00047   nodes_ = x->GetComponent<Nodes>(node_id_);
00048 }
00049 
00050 double
00051 NodeCost::GetCost () const
00052 {
00053   double cost;
00054   for (auto n : nodes_->GetNodes()) {
00055     double val = n.at(deriv_)(dim_);
00056     cost += std::pow(val,2);
00057   }
00058 
00059   return cost;
00060 }
00061 
00062 void
00063 NodeCost::FillJacobianBlock (std::string var_set, Jacobian& jac) const
00064 {
00065   if (var_set == node_id_) {
00066 
00067     for (int i=0; i<nodes_->GetRows(); ++i)
00068       for (auto idx : nodes_->GetNodeInfoAtOptIndex(i))
00069         if (idx.node_deriv_==deriv_ && idx.node_dim_==dim_) {
00070           double val = nodes_->GetNodes().at(idx.node_id_).at(deriv_)(dim_);
00071           jac.coeffRef(0, i) += 2.0*val;
00072         }
00073   }
00074 }
00075 
00076 } /* namespace towr */
00077 


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44