Constraint.h

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/* Author: Zachary Kingston, Ryan Luna */
 
#ifndef OMPL_BASE_CONSTRAINTS_CONSTRAINT_
#define OMPL_BASE_CONSTRAINTS_CONSTRAINT_
 
#include "ompl/base/StateSpace.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/Exception.h"
 
#include <Eigen/Core>
#include <Eigen/Dense>
#include <utility>
 
namespace ompl
{
    namespace magic
    {
        static const double CONSTRAINT_PROJECTION_TOLERANCE = 1e-4;
 
        static const unsigned int CONSTRAINT_PROJECTION_MAX_ITERATIONS = 50;
    }  // namespace magic
 
    namespace base
    {
 
        OMPL_CLASS_FORWARD(Constraint);
 
        class Constraint
        {
        public:
            Constraint(const unsigned int ambientDim, const unsigned int coDim,
                       double tolerance = magic::CONSTRAINT_PROJECTION_TOLERANCE)
              : n_(ambientDim)
              , k_(ambientDim - coDim)
              , tolerance_(tolerance)
              , maxIterations_(magic::CONSTRAINT_PROJECTION_MAX_ITERATIONS)
            {
                if (n_ <= 0 || k_ <= 0)
                    throw ompl::Exception("ompl::base::Constraint(): "
                                          "Ambient and manifold dimensions must be positive.");
            }
 
            virtual ~Constraint() = default;
 
            virtual void function(const State *state, Eigen::Ref<Eigen::VectorXd> out) const;
 
            virtual void function(const Eigen::Ref<const Eigen::VectorXd> &x,
                                  Eigen::Ref<Eigen::VectorXd> out) const = 0;
 
            virtual void jacobian(const State *state, Eigen::Ref<Eigen::MatrixXd> out) const;
 
            virtual void jacobian(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out) const;
 
            virtual bool project(State *state) const;
 
            virtual bool project(Eigen::Ref<Eigen::VectorXd> x) const;
 
            virtual double distance(const State *state) const;
 
            virtual double distance(const Eigen::Ref<const Eigen::VectorXd> &x) const;
 
            virtual bool isSatisfied(const State *state) const;
 
            virtual bool isSatisfied(const Eigen::Ref<const Eigen::VectorXd> &x) const;
 
            unsigned int getAmbientDimension() const
            {
                return n_;
            }
 
            unsigned int getManifoldDimension() const
            {
                return k_;
            }
 
            unsigned int getCoDimension() const
            {
                return n_ - k_;
            }
 
            void setManifoldDimension(unsigned int k)
            {
                if (k <= 0)
                    throw ompl::Exception("ompl::base::Constraint(): "
                                          "Space is over constrained!");
                k_ = k;
            }
 
            double getTolerance() const
            {
                return tolerance_;
            }
 
            unsigned int getMaxIterations() const
            {
                return maxIterations_;
            }
 
            void setTolerance(const double tolerance)
            {
                if (tolerance <= 0)
                    throw ompl::Exception("ompl::base::Constraint::setProjectionTolerance(): "
                                          "tolerance must be positive.");
                tolerance_ = tolerance;
            }
 
            void setMaxIterations(const unsigned int iterations)
            {
                if (iterations == 0)
                    throw ompl::Exception("ompl::base::Constraint::setProjectionMaxIterations(): "
                                          "iterations must be positive.");
                maxIterations_ = iterations;
            }
 
        protected:
            const unsigned int n_;
 
            unsigned int k_;
 
            double tolerance_;
 
            unsigned int maxIterations_;
        };
 
        OMPL_CLASS_FORWARD(ConstraintIntersection);
 
        class ConstraintIntersection : public Constraint
        {
        public:
            ConstraintIntersection(const unsigned int ambientDim, std::vector<ConstraintPtr> constraints)
              : Constraint(ambientDim, 0)
            {
                for (const auto &constraint : constraints)
                    addConstraint(constraint);
            }
 
            ConstraintIntersection(const unsigned int ambientDim, std::initializer_list<ConstraintPtr> constraints)
              : Constraint(ambientDim, 0)
            {
                for (const auto &constraint : constraints)
                    addConstraint(constraint);
            }
 
            void function(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) const override
            {
                unsigned int i = 0;
                for (const auto &constraint : constraints_)
                {
                    constraint->function(x, out.segment(i, constraint->getCoDimension()));
                    i += constraint->getCoDimension();
                }
            }
 
            void jacobian(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out) const override
            {
                unsigned int i = 0;
                for (const auto &constraint : constraints_)
                {
                    constraint->jacobian(x, out.block(i, 0, constraint->getCoDimension(), n_));
                    i += constraint->getCoDimension();
                }
            }
 
        protected:
            void addConstraint(const ConstraintPtr &constraint)
            {
                setManifoldDimension(k_ - constraint->getCoDimension());
                constraints_.push_back(constraint);
            }
 
            std::vector<ConstraintPtr> constraints_;
        };
 
        OMPL_CLASS_FORWARD(ConstraintObjective);
 
        class ConstraintObjective : public OptimizationObjective
        {
        public:
            ConstraintObjective(ConstraintPtr constraint, SpaceInformationPtr si)
              : OptimizationObjective(std::move(si)), constraint_(std::move(constraint))
            {
            }
 
            Cost stateCost(const State *s) const override
            {
                return Cost(constraint_->distance(s));
            }
 
        protected:
            ConstraintPtr constraint_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif