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Merge branch 'main' into feature/parameters_with_precomputation
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‎.github/workflows/ros-build-test.yml‎

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name: Build and Test OCS2
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on:
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push:
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branches: [ main ]
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pull_request:
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branches: [ main ]
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jobs:
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build:
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# build both Debug and Release mode
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strategy:
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fail-fast: false
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matrix:
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build_type: [ Debug, Release ]
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# environment: regular Ubuntu with a vanilla ROS container
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runs-on: ubuntu-latest
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container:
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image: ros:noetic
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steps:
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- name: Environment Info
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run: |
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pwd
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uname -r
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lsb_release -a
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- name: System deps
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run: |
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apt-get update
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apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev
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- uses: actions/checkout@v2
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with:
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path: src/ocs2
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- name: Rosdep
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run: |
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rosdep update
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rosdep install --from-paths src --ignore-src -r -y
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- name: Checkout dependencies
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run: |
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git clone --recurse-submodules https://github.com/leggedrobotics/pinocchio.git src/pinocchio
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git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git src/hpp-fcl
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git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets
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- name: Build (${{ matrix.build_type }})
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shell: bash
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run: |
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source /opt/ros/noetic/setup.bash
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catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --ignore-pkg ocs2_raisim --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
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- name: Test
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shell: bash
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run: |
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source devel_isolated/setup.bash
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catkin_make_isolated --use-ninja --merge --only-pkg-with-deps ocs2 --catkin-make-args run_tests

‎ocs2_core/CMakeLists.txt‎

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@@ -67,6 +67,11 @@ include_directories(
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# Declare a C++ library
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add_library(${PROJECT_NAME}
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src/Types.cpp
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src/augmented_lagrangian/AugmentedLagrangian.cpp
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src/augmented_lagrangian/StateAugmentedLagrangian.cpp
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src/augmented_lagrangian/StateInputAugmentedLagrangian.cpp
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src/augmented_lagrangian/StateAugmentedLagrangianCollection.cpp
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src/augmented_lagrangian/StateInputAugmentedLagrangianCollection.cpp
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src/automatic_differentation/CppAdInterface.cpp
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src/automatic_differentation/CppAdSparsity.cpp
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src/automatic_differentation/FiniteDifferenceMethods.cpp
@@ -116,6 +121,11 @@ add_library(${PROJECT_NAME}
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src/loopshaping/soft_constraint/LoopshapingStateInputSoftConstraint.cpp
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src/loopshaping/soft_constraint/LoopshapingSoftConstraintEliminatePattern.cpp
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src/loopshaping/soft_constraint/LoopshapingSoftConstraintOutputPattern.cpp
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src/loopshaping/augmented_lagrangian/LoopshapingAugmentedLagrangian.cpp
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src/loopshaping/augmented_lagrangian/LoopshapingStateAugmentedLagrangian.cpp
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src/loopshaping/augmented_lagrangian/LoopshapingStateInputAugmentedLagrangian.cpp
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src/loopshaping/augmented_lagrangian/LoopshapingAugmentedLagrangianEliminatePattern.cpp
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src/loopshaping/augmented_lagrangian/LoopshapingAugmentedLagrangianOutputPattern.cpp
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src/loopshaping/constraint/LoopshapingConstraint.cpp
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src/loopshaping/constraint/LoopshapingStateConstraint.cpp
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src/loopshaping/constraint/LoopshapingStateInputConstraint.cpp
@@ -127,12 +137,15 @@ add_library(${PROJECT_NAME}
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src/loopshaping/dynamics/LoopshapingFilterDynamics.cpp
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src/loopshaping/initialization/LoopshapingInitializer.cpp
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src/model_data/ModelData.cpp
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src/model_data/Metrics.cpp
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src/model_data/Multiplier.cpp
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src/misc/LinearAlgebra.cpp
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src/misc/Log.cpp
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src/soft_constraint/StateSoftConstraint.cpp
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src/soft_constraint/StateInputSoftConstraint.cpp
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src/soft_constraint/StateInputSoftBoxConstraint.cpp
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src/penalties/MultidimensionalPenalty.cpp
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src/penalties/Penalties.cpp
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src/penalties/penalties/RelaxedBarrierPenalty.cpp
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src/penalties/penalties/SquaredHingePenalty.cpp
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src/thread_support/ThreadPool.cpp
@@ -263,6 +276,7 @@ target_link_libraries(test_transferfunctionbase
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catkin_add_gtest(${PROJECT_NAME}_loopshaping
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test/loopshaping/testLoopshapingConfiguration.cpp
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test/loopshaping/testLoopshapingAugmentedLagrangian.cpp
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test/loopshaping/testLoopshapingConstraint.cpp
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test/loopshaping/testLoopshapingCost.cpp
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test/loopshaping/testLoopshapingSoftConstraint.cpp
@@ -327,6 +341,24 @@ target_link_libraries(test_constraint
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gtest_main
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)
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catkin_add_gtest(test_metrics
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test/model_data/testMetrics.cpp
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)
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target_link_libraries(test_metrics
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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gtest_main
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)
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catkin_add_gtest(test_multiplier
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test/model_data/testMultiplier.cpp
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)
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target_link_libraries(test_multiplier
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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gtest_main
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)
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catkin_add_gtest(test_ModelData
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test/model_data/testModelData.cpp
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)

‎ocs2_core/include/ocs2_core/augmented_lagrangian/AugmentedLagrangian.h‎

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/******************************************************************************
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Copyright (c) 2020, Farbod Farshidian. All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
8+
list of conditions and the following disclaimer.
9+
10+
* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
12+
and/or other materials provided with the distribution.
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14+
* Neither the name of the copyright holder nor the names of its
15+
contributors may be used to endorse or promote products derived from
16+
this software without specific prior written permission.
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18+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20+
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23+
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24+
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#pragma once
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#include <memory>
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#include <ocs2_core/augmented_lagrangian/StateAugmentedLagrangian.h>
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#include <ocs2_core/augmented_lagrangian/StateInputAugmentedLagrangian.h>
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/**
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* Helper factory functions
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*/
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namespace ocs2 {
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/**
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* Factory function for state augmented Lagrangian.
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* @param [in] constraintPtr: A pointer to the constraint which will be enforced as soft constraints.
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* @param [in] penaltyPtrArray: An array of pointers to the penalty function on the constraint.
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*/
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std::unique_ptr<StateAugmentedLagrangian> create(std::unique_ptr<StateConstraint> constraintPtr,
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std::vector<std::unique_ptr<augmented::AugmentedPenaltyBase>> penaltyPtrArray);
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/**
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* Factory function for state augmented Lagrangian.
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* @param [in] constraintPtr: A pointer to the constraint which will be enforced as soft constraints.
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* @param [in] penaltyPtr: A pointer to the penalty function on the constraint.
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*/
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std::unique_ptr<StateAugmentedLagrangian> create(std::unique_ptr<StateConstraint> constraintPtr,
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std::unique_ptr<augmented::AugmentedPenaltyBase> penaltyPtr);
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/**
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* Factory function for state-input augmented Lagrangian.
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* @param [in] constraintPtr: A pointer to the constraint which will be enforced as soft constraints.
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* @param [in] penaltyPtrArray: An array of pointers to the penalty function on the constraint.
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*/
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std::unique_ptr<StateInputAugmentedLagrangian> create(std::unique_ptr<StateInputConstraint> constraintPtr,
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std::vector<std::unique_ptr<augmented::AugmentedPenaltyBase>> penaltyPtrArray);
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/**
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* Factory function for state-input augmented Lagrangian.
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* @param [in] constraintPtr: A pointer to the constraint which will be enforced as soft constraints.
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* @param [in] penaltyPtr: A pointer to the penalty function on the constraint.
70+
*/
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std::unique_ptr<StateInputAugmentedLagrangian> create(std::unique_ptr<StateInputConstraint> constraintPtr,
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std::unique_ptr<augmented::AugmentedPenaltyBase> penaltyPtr);
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} // namespace ocs2

‎ocs2_core/include/ocs2_core/augmented_lagrangian/StateAugmentedLagrangian.h‎

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/******************************************************************************
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Copyright (c) 2020, Farbod Farshidian. All rights reserved.
3+
4+
Redistribution and use in source and binary forms, with or without
5+
modification, are permitted provided that the following conditions are met:
6+
7+
* Redistributions of source code must retain the above copyright notice, this
8+
list of conditions and the following disclaimer.
9+
10+
* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
12+
and/or other materials provided with the distribution.
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14+
* Neither the name of the copyright holder nor the names of its
15+
contributors may be used to endorse or promote products derived from
16+
this software without specific prior written permission.
17+
18+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20+
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22+
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23+
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24+
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#pragma once
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#include <memory>
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#include <ocs2_core/augmented_lagrangian/StateAugmentedLagrangianInterface.h>
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#include <ocs2_core/penalties/MultidimensionalPenalty.h>
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namespace ocs2 {
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/** The base class for Augmented Lagrangian penalty of state constraint. */
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class StateAugmentedLagrangian final : public StateAugmentedLagrangianInterface {
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public:
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/**
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* Constructor.
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* @param [in] constraintPtr: A pointer to the constraint which will be enforced as soft constraints.
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* @param [in] penaltyPtrArray: An array of pointers to the penalty function on the constraint.
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*/
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StateAugmentedLagrangian(std::unique_ptr<StateConstraint> constraintPtr,
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std::vector<std::unique_ptr<augmented::AugmentedPenaltyBase>> penaltyPtrArray);
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/**
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* Constructor.
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* @note This allows a varying number of constraints and uses the same penalty function for each constraint.
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* @param [in] constraintPtr: A pointer to the constraint which will be enforced as soft constraints.
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* @param [in] penaltyPtr: A pointer to the penalty function on the constraint.
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*/
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StateAugmentedLagrangian(std::unique_ptr<StateConstraint> constraintPtr, std::unique_ptr<augmented::AugmentedPenaltyBase> penaltyPtr);
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StateAugmentedLagrangian* clone() const override;
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bool isActive(scalar_t time) const override;
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size_t getNumConstraints(scalar_t time) const override;
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LagrangianMetrics getValue(scalar_t time, const vector_t& state, const Multiplier& multiplier,
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const PreComputation& preComp) const override;
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ScalarFunctionQuadraticApproximation getQuadraticApproximation(scalar_t time, const vector_t& state, const Multiplier& multiplier,
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const PreComputation& preComp) const override;
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std::pair<Multiplier, scalar_t> updateLagrangian(scalar_t time, const vector_t& state, const vector_t& constraint,
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const Multiplier& multiplier) const override;
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Multiplier initializeLagrangian(scalar_t time) const override;
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/** Gets the wrapped constraint. */
74+
template <typename Derived = StateConstraint>
75+
Derived& get() {
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static_assert(std::is_base_of<StateConstraint, Derived>::value, "Template argument must derive from StateConstraint!");
77+
return dynamic_cast<Derived&>(*constraintPtr_);
78+
}
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private:
81+
StateAugmentedLagrangian(const StateAugmentedLagrangian& other);
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std::unique_ptr<StateConstraint> constraintPtr_;
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MultidimensionalPenalty penalty_;
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};
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} // namespace ocs2

‎ocs2_core/include/ocs2_core/augmented_lagrangian/StateAugmentedLagrangianCollection.h‎

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/******************************************************************************
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Copyright (c) 2020, Farbod Farshidian. All rights reserved.
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Redistribution and use in source and binary forms, with or without
5+
modification, are permitted provided that the following conditions are met:
6+
7+
* Redistributions of source code must retain the above copyright notice, this
8+
list of conditions and the following disclaimer.
9+
10+
* Redistributions in binary form must reproduce the above copyright notice,
11+
this list of conditions and the following disclaimer in the documentation
12+
and/or other materials provided with the distribution.
13+
14+
* Neither the name of the copyright holder nor the names of its
15+
contributors may be used to endorse or promote products derived from
16+
this software without specific prior written permission.
17+
18+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19+
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20+
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22+
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23+
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24+
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25+
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26+
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27+
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28+
******************************************************************************/
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#pragma once
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#include <functional>
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#include <ocs2_core/Types.h>
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#include <ocs2_core/misc/Collection.h>
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#include "ocs2_core/augmented_lagrangian/StateAugmentedLagrangianInterface.h"
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namespace ocs2 {
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/**
42+
* State Augmented Lagrangian penalty class combining a collection of constraint terms.
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*
44+
* This class collects a variable number of Augmented Lagrangian penalty terms and provides methods to get the
45+
* summed values and quadratic approximations. Each term can be accessed through its string name.
46+
*/
47+
class StateAugmentedLagrangianCollection : public Collection<StateAugmentedLagrangianInterface> {
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public:
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StateAugmentedLagrangianCollection() = default;
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~StateAugmentedLagrangianCollection() override = default;
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StateAugmentedLagrangianCollection* clone() const override;
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/** Get total number of active constraints. */
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size_t getNumberOfActiveConstraints(scalar_t time) const;
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/** Get state constraints and their penalties for each active term */
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virtual std::vector<LagrangianMetrics> getValue(scalar_t time, const vector_t& state, const std::vector<Multiplier>& termsMultiplier,
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const PreComputation& preComp) const;
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/** Get the sum of state Lagrangian penalties quadratic approximation */
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virtual ScalarFunctionQuadraticApproximation getQuadraticApproximation(scalar_t time, const vector_t& state,
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const std::vector<Multiplier>& termsMultiplier,
63+
const PreComputation& preComp) const;
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/** Update Lagrange/penalty multipliers, and the penalty value for each active term. */
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virtual void updateLagrangian(scalar_t time, const vector_t& state, std::vector<LagrangianMetrics>& termsMetrics,
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std::vector<Multiplier>& termsMultiplier) const;
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/** Initialize Lagrange/penalty multipliers for each active term. */
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void initializeLagrangian(scalar_t time, std::vector<Multiplier>& termsMultiplier) const;
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protected:
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StateAugmentedLagrangianCollection(const StateAugmentedLagrangianCollection& other) = default;
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};
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} // namespace ocs2

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