const typename
  Type<Scalar>::MatrixX& HumanoidLipComJerkMinimizationObjective<Scalar>::getHessian()
  {
    assert(feetSupervisor_.getNbSamples() == lipModel_.getNbSamples());;

    int N = lipModel_.getNbSamples();
    int M = feetSupervisor_.getNbPreviewedSteps();

    int nb = feetSupervisor_.getNbOfCallsBeforeNextSample() - 1;

    const LinearDynamic<Scalar>& dynCopX = lipModel_.getCopXLinearDynamic(nb);
    const LinearDynamic<Scalar>& dynCopY = lipModel_.getCopYLinearDynamic(nb);

    MatrixX tmp = MatrixX::Zero(2*N, 2*N + 2*M);

    tmp.block(0, 0, 2*N, 2*N) = feetSupervisor_.getRotationMatrixT();
    tmp.block(0, 2*N, N, M) = feetSupervisor_.getFeetPosLinearDynamic().U;
    tmp.block(N, 2*N + M, N, M) = feetSupervisor_.getFeetPosLinearDynamic().U;

    MatrixX tmp2 = MatrixX::Zero(2*N, 2*N);

    const MatrixX& weight = feetSupervisor_.getSampleWeightMatrix();

    tmp2.block(0, 0, N, N) = dynCopX.UTinv*weight*dynCopX.Uinv;
    tmp2.block(N, N, N, N) = dynCopY.UTinv*weight*dynCopY.Uinv;
    hessian_.noalias() = tmp.transpose()*tmp2*tmp;

    return hessian_;
  }
예제 #2
0
void run_test(int dim, int num_elements)
{
  using std::abs;
  typedef typename internal::traits<MatrixType>::Scalar Scalar;
  typedef Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX;
  typedef Matrix<Scalar, Eigen::Dynamic, 1> VectorX;

  // MUST be positive because in any other case det(cR_t) may become negative for
  // odd dimensions!
  const Scalar c = abs(internal::random<Scalar>());

  MatrixX R = randMatrixSpecialUnitary<Scalar>(dim);
  VectorX t = Scalar(50)*VectorX::Random(dim,1);

  MatrixX cR_t = MatrixX::Identity(dim+1,dim+1);
  cR_t.block(0,0,dim,dim) = c*R;
  cR_t.block(0,dim,dim,1) = t;

  MatrixX src = MatrixX::Random(dim+1, num_elements);
  src.row(dim) = Matrix<Scalar, 1, Dynamic>::Constant(num_elements, Scalar(1));

  MatrixX dst = cR_t*src;

  MatrixX cR_t_umeyama = umeyama(src.block(0,0,dim,num_elements), dst.block(0,0,dim,num_elements));

  const Scalar error = ( cR_t_umeyama*src - dst ).norm() / dst.norm();
  VERIFY(error < Scalar(40)*std::numeric_limits<Scalar>::epsilon());
}
  const typename Type<Scalar>::VectorX&
  HumanoidLipComJerkMinimizationObjective<Scalar>::getGradient(const VectorX& x0)
  {
    assert(x0.rows() == 2*lipModel_.getNbSamples() + 2*feetSupervisor_.getNbPreviewedSteps());

    int N = lipModel_.getNbSamples();
    int M = feetSupervisor_.getNbPreviewedSteps();

    int nb = feetSupervisor_.getNbOfCallsBeforeNextSample() - 1;

    const LinearDynamic<Scalar>& dynCopX = lipModel_.getCopXLinearDynamic(nb);
    const LinearDynamic<Scalar>& dynCopY = lipModel_.getCopYLinearDynamic(nb);
    const LinearDynamic<Scalar>& dynFeetPos = feetSupervisor_.getFeetPosLinearDynamic();

    const MatrixX& weight = feetSupervisor_.getSampleWeightMatrix();

    //TODO: sparse matrices?
    // Ill change these tmp matrices after calculus optimization
    // I may change some function to avoid copies
    MatrixX tmp = MatrixX::Zero(2*N + 2*M, 2*N);
    tmp.block(0, 0, 2*N, 2*N) = feetSupervisor_.getRotationMatrix();
    tmp.block(2*N, 0, M, N) = feetSupervisor_.getFeetPosLinearDynamic().UT;
    tmp.block(2*N + M, N, M, N) = feetSupervisor_.getFeetPosLinearDynamic().UT;

    VectorX tmp2 = VectorX::Zero(2*N);
    tmp2.segment(0, N) = dynCopX.UTinv*weight*dynCopX.Uinv*dynFeetPos.S
                         *feetSupervisor_.getSupportFootStateX()(0)
                         - dynCopX.UTinv*weight*dynCopX.Uinv
                         *(dynCopX.S*lipModel_.getStateX() + dynCopX.K);

    tmp2.segment(N, N) = dynCopY.UTinv*weight*dynCopY.Uinv*dynFeetPos.S
                         *feetSupervisor_.getSupportFootStateY()(0)
                         - dynCopY.UTinv*weight*dynCopY.Uinv
                         *(dynCopY.S*lipModel_.getStateY() + dynCopY.K);

    gradient_ = tmp*tmp2;
    gradient_ += getHessian()*x0;
    return gradient_;
  }