soft_constraint.cc
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #include <towr/costs/soft_constraint.h>
00031 
00032 namespace towr {
00033 
00034 SoftConstraint::SoftConstraint (const ConstraintPtr& constraint)
00035     :Component(1, "SoftConstraint-" + constraint->GetName())
00036 {
00037   constraint_ = constraint;
00038   int n_constraints = constraint_->GetRows();
00039 
00040   // average value of each upper and lower bound
00041   b_ = VectorXd(n_constraints);
00042   int i=0;
00043   for (auto b : constraint_->GetBounds()) {
00044     b_(i++) = (b.upper_ + b.lower_)/2.;
00045   }
00046 
00047   // treat all constraints equally by default
00048   W_.resize(n_constraints);
00049   W_.setOnes();
00050 }
00051 
00052 SoftConstraint::VectorXd
00053 SoftConstraint::GetValues () const
00054 {
00055   VectorXd g = constraint_->GetValues();
00056   VectorXd cost = 0.5*(g-b_).transpose()*W_.asDiagonal()*(g-b_);
00057   return cost;
00058 }
00059 
00060 SoftConstraint::Jacobian
00061 SoftConstraint::GetJacobian () const
00062 {
00063   VectorXd g   = constraint_->GetValues();
00064   Jacobian jac = constraint_->GetJacobian();
00065   VectorXd grad = jac.transpose()*W_.asDiagonal()*(g-b_);
00066   return grad.transpose().sparseView();
00067 }
00068 
00069 } /* namespace towr */


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