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InterPhaseBaseConstraint.hpp
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25 
26 /*
27  * InterPhaseBase.hpp
28  *
29  * Created on: Sep 3, 2016
30  * Author: depardo
31  */
32 
33 #ifndef _InterPhaseBase_HPP_
34 #define _InterPhaseBase_HPP_
35 
36 #include <memory>
37 #include <optimization/constraints/GenericConstraintsBase.hpp>
38 
39 namespace DirectTrajectoryOptimization{
40 namespace BaseClass{
41 
42 template <class DIMENSIONS>
43 class InterPhaseBase : public NumDiffDerivativesBase,
44  public std::enable_shared_from_this<InterPhaseBase<DIMENSIONS> > {
45 
46 public:
47 
48  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
49 
50  typedef typename DIMENSIONS::state_vector_t state_vector_t;
51  typedef typename DIMENSIONS::control_vector_t control_vector_t;
52 
53  static const int s_size = static_cast<int>(DIMENSIONS::DimensionsSize::STATE_SIZE);
54  static const int c_size = static_cast<int>(DIMENSIONS::DimensionsSize::CONTROL_SIZE);
55 
56  int complete_vector_size = 0;
57  int size_of_jacobian = 0;
58  int total_inputs_jacobian=0;
59 
60  std::shared_ptr<InterPhaseBase<DIMENSIONS> > my_pointer;
61 
62  InterPhaseBase() { }
63  InterPhaseBase(const bool & no_ipc) {
64 
65  //Initialization for the default case
66  complete_vector_size = s_size;
67  ipc_lb = Eigen::VectorXd::Zero(complete_vector_size);
68  ipc_ub = Eigen::VectorXd::Zero(complete_vector_size);
69 
70  soc_ready_= true;
71  bounds_ready_ = true;
72  }
73  virtual ~InterPhaseBase(){ };
74  int GetSize() { return complete_vector_size;}
75  int GetNnzJacobian() { return size_of_jacobian;}
76  Eigen::VectorXd getLowerBound(){return ipc_lb;}
77  Eigen::VectorXd getUpperBound(){return ipc_ub;}
78 
79  void setSize(const int & soc);
80  void setBounds(const Eigen::VectorXd & lb , const Eigen::VectorXd & ub);
81 
82  void initialize();
83  void initialize_num_diff();
84  void fx(const Eigen::VectorXd & in, Eigen::VectorXd & out);
85 
86  // Implement a default constraint where the positions and controls must be the same
87  virtual Eigen::VectorXd evalConstraintsFct(const state_vector_t& x1, const state_vector_t & x2,
88  const control_vector_t & u1, const control_vector_t & u2);
89 
90  Eigen::VectorXd evalConstraintsFctDerivatives(const state_vector_t & x1, const state_vector_t & x2,
91  const control_vector_t & u1, const control_vector_t & u2);
92 
93 private:
94  Eigen::VectorXd ipc_lb;
95  Eigen::VectorXd ipc_ub;
96 
97  bool soc_ready_ = false;
98  bool bounds_ready_ = false;
99 
100 };
101 
102 template <class DIMENSIONS>
103 void InterPhaseBase<DIMENSIONS>::setSize(const int & soc) {
104  if(soc < 1) {
105  std::cout << "Interphase size must be greater than 0" << std::endl;
106  std::exit(EXIT_FAILURE);
107  }
108  complete_vector_size = soc;
109  soc_ready_ = true;
110 }
111 
112 template <class DIMENSIONS>
113 void InterPhaseBase<DIMENSIONS>::setBounds(const Eigen::VectorXd & lb , const Eigen::VectorXd & ub) {
114  if(!(lb.size() == complete_vector_size) || !(ub.size() == complete_vector_size)) {
115  std::cout << "Interphase bounds size must be equal to SoG" << std::endl;
116  std::exit(EXIT_FAILURE);
117  }
118  ipc_lb = lb;
119  ipc_ub = ub;
120  bounds_ready_ = true;
121 }
122 
123 template <class DIMENSIONS>
124 void InterPhaseBase<DIMENSIONS>::initialize() {
125 
126  if(!soc_ready_ || !bounds_ready_) {
127  std::cout << "Interphase is not ready!" << std::endl;
128  std::exit(EXIT_FAILURE);
129  }
130 
131  // this is always like this!
132  total_inputs_jacobian = 2*s_size + 2*c_size;
133  size_of_jacobian = complete_vector_size*total_inputs_jacobian;
134  initialize_num_diff();
135 }
136 
137 template <class DIMENSIONS>
138 Eigen::VectorXd InterPhaseBase<DIMENSIONS>::evalConstraintsFct(const state_vector_t& x1, const state_vector_t & x2,
139  const control_vector_t & u1, const control_vector_t & u2) {
140 
141  return (x1-x2);
142 }
143 
144 template <class DIMENSIONS>
145 Eigen::VectorXd InterPhaseBase<DIMENSIONS>::evalConstraintsFctDerivatives(
146  const state_vector_t & x1, const state_vector_t & x2 ,
147  const control_vector_t &u1,const control_vector_t &u2) {
148 
149  Eigen::VectorXd in_vector(total_inputs_jacobian);
150 
151  in_vector.segment<s_size>(0) = x1;
152  in_vector.segment<c_size>(s_size) = u1;
153  in_vector.segment<s_size>(s_size+c_size)= x2;
154  in_vector.segment<c_size>(s_size+s_size+c_size) = u2;
155 
156  this->numDiff->df(in_vector,this->mJacobian);
157 
158  //returning ROW-wise the constraint as a vector
159  Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::RowMajor> temp(this->mJacobian);
160  return (Eigen::Map<Eigen::VectorXd>(temp.data(),size_of_jacobian));
161 }
162 
163 template <class DIMENSIONS>
164 void InterPhaseBase<DIMENSIONS>::fx(const Eigen::VectorXd & inputs, Eigen::VectorXd & outputs) {
165 
166  state_vector_t x1 = inputs.segment<s_size>(0);
167  control_vector_t u1 = inputs.segment<c_size>(s_size);
168  state_vector_t x2 = inputs.segment<s_size>(s_size+c_size);
169  control_vector_t u2 = inputs.segment<c_size>(s_size+s_size+c_size);
170 
171  outputs = evalConstraintsFct(x1,x2,u1,u2);
172 }
173 
174 template <class DIMENSIONS>
175 void InterPhaseBase<DIMENSIONS>::initialize_num_diff() {
176 
177  this->my_pointer = std::enable_shared_from_this<InterPhaseBase<DIMENSIONS>>::shared_from_this();
178  this->mJacobian.resize(complete_vector_size,total_inputs_jacobian);
179  this->numdifoperator = std::shared_ptr<FunctionOperator>(new FunctionOperator(total_inputs_jacobian, complete_vector_size , this->my_pointer));
180  this->numDiff = std::shared_ptr<Eigen::NumericalDiff<FunctionOperator> >( new Eigen::NumericalDiff<FunctionOperator>(*this->numdifoperator,std::numeric_limits<double>::epsilon()));
181 
182 }
183 
184 } // BaseClass
185 } // DirectTrajectoryOptimization
186 #endif /* _InterPhaseBase_HPP_ */
GenericConstraintsBase.hpp
Base class for vector constraints and numdiff derivatives.