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Merged
jorisv merged 2 commits into from
Apr 14, 2025
Merged

[pre-commit.ci] pre-commit autoupdate #12

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eda9d3b
[pre-commit.ci] pre-commit autoupdate
pre-commit-ci[bot] Apr 7, 2025
dc7b569
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Apr 7, 2025
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2 changes: 1 addition & 1 deletion .pre-commit-config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ ci:
autoupdate_schedule: quarterly
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v19.1.6
rev: v20.1.0
hooks:
- id: clang-format
types_or: []
Expand Down
68 changes: 39 additions & 29 deletions include/loik/ik-id-description-optimized.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,15 +37,16 @@ namespace loik
{
if (nj_ != nb_ + 1)
{
throw(std::runtime_error("[IkProblemFormulation::IkProblemFormulation]: nb does not equal "
"to nj - 1, robot model not supported !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::IkProblemFormulation]: nb does not equal "
"to nj - 1, robot model not supported !!!"));
}

if (eq_c_dim != 6)
{
throw(
std::runtime_error("[IkProblemFormulation::IkProblemFormulation]: equality constraint "
"dimension is not 6, problem formulation not supported !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::IkProblemFormulation]: equality constraint "
"dimension is not 6, problem formulation not supported !!!"));
}

H_refs_.reserve(static_cast<std::size_t>(nj));
Expand Down Expand Up @@ -112,8 +113,9 @@ namespace loik
H_refs.size() != static_cast<std::size_t>(nj_)
|| v_refs.size() != static_cast<std::size_t>(nj_))
{
throw(std::runtime_error("[IkProblemFormulation::UpdateReferences]: input arguments "
"'H_refs', 'v_refs' have wrong size!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateReferences]: input arguments "
"'H_refs', 'v_refs' have wrong size!!"));
}
H_refs_ = H_refs;
v_refs_ = v_refs;
Expand Down Expand Up @@ -144,8 +146,9 @@ namespace loik
// check constraint specification is consistant
if (!((active_task_constraint_ids.size() == Ais.size()) && ((Ais.size() == bis.size()))))
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraints]: "
"task_constraint_ids, Ais, and bis have different size !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraints]: "
"task_constraint_ids, Ais, and bis have different size !!!"));
}

// check constraint dimension is consistent between input arguments!
Expand All @@ -158,16 +161,18 @@ namespace loik
// check if number of equality constraints has changed
if (active_task_constraint_ids.size() != static_cast<std::size_t>(nc_eq_))
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraints]: number of equality "
"constraints doesn't match initialization!!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraints]: number of equality "
"constraints doesn't match initialization!!!"));
}

// check if equality constraint dim has changed
if (Ais[0].rows() != eq_c_dim_)
{
// TODO: need to check constraint dimension for each Ai and bi, not just the first ones
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraints]: equality constraint "
"dimension has changed!!! Updating constraint dimension"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraints]: equality constraint "
"dimension has changed!!! Updating constraint dimension"));
}

active_task_constraint_ids_ = active_task_constraint_ids;
Expand Down Expand Up @@ -206,8 +211,9 @@ namespace loik
// if 'c_id' not present in 'active_task_constraint_ids_', invoke 'AddEqConstraint()'
if (found_it == active_task_constraint_ids_.end())
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
}

// check if constraint dimension is consistent
Expand All @@ -224,9 +230,9 @@ namespace loik
// if 'c_id' appear more than once, then something went wrong, throw.
if (c_id_count > 1)
{
throw(
std::runtime_error("[IkProblemFormulation::UpdateEqConstraint]: multiple constraint "
"specification for the same link id, not supported, terminating !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraint]: multiple constraint "
"specification for the same link id, not supported, terminating !!!"));
}

// get index of 'c_id' in 'active_task_constraint_ids_'
Expand Down Expand Up @@ -261,8 +267,9 @@ namespace loik
// if 'c_id' not present in 'active_task_constraint_ids_', then throw
if (found_it == active_task_constraint_ids_.end())
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
}

// get index of 'c_id' in 'active_task_constraint_ids_'
Expand Down Expand Up @@ -293,14 +300,16 @@ namespace loik
// check constraint dimension
if (Ai.rows() != bi.rows())
{
throw(std::runtime_error("[IkProblemFormulation::AddEqConstraint]: input arguments "
"constraint dimension inconsistent !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::AddEqConstraint]: input arguments "
"constraint dimension inconsistent !!!"));
}

if (Ai.rows() != static_cast<std::size_t>(eq_c_dim_))
{
throw(std::runtime_error("[IkProblemFormulation::AddEqConstraint]: input constraint "
"dimension differ from existing constriant dimension!!!"));
throw(std::runtime_error(
"[IkProblemFormulation::AddEqConstraint]: input constraint "
"dimension differ from existing constriant dimension!!!"));
}

active_task_constraint_ids_.push_back(c_id);
Expand Down Expand Up @@ -370,16 +379,17 @@ namespace loik
// check arguments have some dimension
if (lb.size() != ub.size())
{
throw(std::runtime_error("[IkProblemFormulation::UpdateIneqConstraints]: lower bound and "
"upper bound have different dimensions!!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateIneqConstraints]: lower bound and "
"upper bound have different dimensions!!!"));
}

// check is inequality constraint dimension has changed
if (lb.size() != ineq_c_dim_)
{
throw(
std::runtime_error("IkProblemFormulation::UpdateIneqConstraints]: inequality constraint "
"dimension has changed, this is not supported currently!!!"));
throw(std::runtime_error(
"IkProblemFormulation::UpdateIneqConstraints]: inequality constraint "
"dimension has changed, this is not supported currently!!!"));
}

lb_ = lb;
Expand Down
73 changes: 42 additions & 31 deletions include/loik/ik-id-description.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,15 +36,16 @@ namespace loik
{
if (nj_ != nb_ + 1)
{
throw(std::runtime_error("[IkProblemFormulation::IkProblemFormulation]: nb does not equal "
"to nj - 1, robot model not supported !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::IkProblemFormulation]: nb does not equal "
"to nj - 1, robot model not supported !!!"));
}

if (eq_c_dim != 6)
{
throw(
std::runtime_error("[IkProblemFormulation::IkProblemFormulation]: equality constraint "
"dimension is not 6, problem formulation not supported !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::IkProblemFormulation]: equality constraint "
"dimension is not 6, problem formulation not supported !!!"));
}

H_refs_.reserve(static_cast<std::size_t>(nj));
Expand Down Expand Up @@ -103,8 +104,9 @@ namespace loik
H_refs.size() != static_cast<std::size_t>(nj_)
|| v_refs.size() != static_cast<std::size_t>(nj_))
{
throw(std::runtime_error("[IkProblemFormulation::UpdateReferences]: input arguments "
"'H_refs', 'v_refs' have wrong size!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateReferences]: input arguments "
"'H_refs', 'v_refs' have wrong size!!"));
}
H_refs_ = H_refs;
v_refs_ = v_refs;
Expand All @@ -122,8 +124,9 @@ namespace loik
// check constraint specification is consistant
if (!((active_task_constraint_ids.size() == Ais.size()) && ((Ais.size() == bis.size()))))
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraints]: "
"task_constraint_ids, Ais, and bis have different size !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraints]: "
"task_constraint_ids, Ais, and bis have different size !!!"));
}

// check constraint dimension is consistent between input arguments!
Expand All @@ -136,16 +139,18 @@ namespace loik
// check if number of equality constraints has changed
if (active_task_constraint_ids.size() != static_cast<std::size_t>(nc_eq_))
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraints]: number of equality "
"constraints doesn't match initialization!!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraints]: number of equality "
"constraints doesn't match initialization!!!"));
}

// check if equality constraint dim has changed
if (Ais[0].rows() != eq_c_dim_)
{
// TODO: need to check constraint dimension for each Ai and bi, not just the first ones
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraints]: equality constraint "
"dimension has changed!!! Updating constraint dimension"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraints]: equality constraint "
"dimension has changed!!! Updating constraint dimension"));
}

active_task_constraint_ids_ = active_task_constraint_ids;
Expand All @@ -167,8 +172,9 @@ namespace loik
// if 'c_id' not present in 'active_task_constraint_ids_', invoke 'AddEqConstraint()'
if (found_it == active_task_constraint_ids_.end())
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
}

// check if constraint dimension is consistent
Expand All @@ -185,9 +191,9 @@ namespace loik
// if 'c_id' appear more than once, then something went wrong, throw.
if (c_id_count > 1)
{
throw(
std::runtime_error("[IkProblemFormulation::UpdateEqConstraint]: multiple constraint "
"specification for the same link id, not supported, terminating !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraint]: multiple constraint "
"specification for the same link id, not supported, terminating !!!"));
}

// get index of 'c_id' in 'active_task_constraint_ids_'
Expand All @@ -212,8 +218,9 @@ namespace loik
// if 'c_id' not present in 'active_task_constraint_ids_', then throw
if (found_it == active_task_constraint_ids_.end())
{
throw(std::runtime_error("[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateEqConstraint]: constraint doesn't "
"yet exist at link 'c_id' !!! "));
}

// get index of 'c_id' in 'active_task_constraint_ids_'
Expand Down Expand Up @@ -244,14 +251,16 @@ namespace loik
// check constraint dimension
if (Ai.rows() != bi.rows())
{
throw(std::runtime_error("[IkProblemFormulation::AddEqConstraint]: input arguments "
"constraint dimension inconsistent !!!"));
throw(std::runtime_error(
"[IkProblemFormulation::AddEqConstraint]: input arguments "
"constraint dimension inconsistent !!!"));
}

if (Ai.rows() != static_cast<std::size_t>(eq_c_dim_))
{
throw(std::runtime_error("[IkProblemFormulation::AddEqConstraint]: input constraint "
"dimension differ from existing constriant dimension!!!"));
throw(std::runtime_error(
"[IkProblemFormulation::AddEqConstraint]: input constraint "
"dimension differ from existing constriant dimension!!!"));
}

active_task_constraint_ids_.push_back(c_id);
Expand Down Expand Up @@ -297,16 +306,17 @@ namespace loik
// check arguments have some dimension
if (lb.size() != ub.size())
{
throw(std::runtime_error("[IkProblemFormulation::UpdateIneqConstraints]: lower bound and "
"upper bound have different dimensions!!!"));
throw(std::runtime_error(
"[IkProblemFormulation::UpdateIneqConstraints]: lower bound and "
"upper bound have different dimensions!!!"));
}

// check is inequality constraint dimension has changed
if (lb.size() != ineq_c_dim_)
{
throw(
std::runtime_error("IkProblemFormulation::UpdateIneqConstraints]: inequality constraint "
"dimension has changed, this is not supported currently!!!"));
throw(std::runtime_error(
"IkProblemFormulation::UpdateIneqConstraints]: inequality constraint "
"dimension has changed, this is not supported currently!!!"));
}

lb_ = lb;
Expand Down Expand Up @@ -521,8 +531,9 @@ namespace loik
}
else
{
throw(std::runtime_error("[IkProblemStandardQPFormulation::UpdateQPADMMSolveInit]: "
"parent id < 0, this can't happen !!!"));
throw(std::runtime_error(
"[IkProblemStandardQPFormulation::UpdateQPADMMSolveInit]: "
"parent id < 0, this can't happen !!!"));
}
}

Expand Down
5 changes: 3 additions & 2 deletions include/loik/loik-loid-optimized.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -693,8 +693,9 @@ namespace loik
else if (this->mu_update_strat_ == ADMMPenaltyUpdateStrat::MAXEIGENVALUE)
{
// use max eigen value strategy
throw(std::runtime_error("[FirstOrderLoikOptimizedTpl::UpdateMu]: mu update strategy "
"MAXEIGENVALUE not yet implemented"));
throw(std::runtime_error(
"[FirstOrderLoikOptimizedTpl::UpdateMu]: mu update strategy "
"MAXEIGENVALUE not yet implemented"));
}
else
{
Expand Down
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