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Merge pull request #218 from keenon/keenon/acc-minimizer
Adding native AccelerationMinimizer support
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| 0.10.44 | ||
| 0.10.45 |
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| #include "AccelerationMinimizer.hpp" | ||
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| #include <iostream> | ||
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| // #include <Eigen/Core> | ||
| // #include <Eigen/Dense> | ||
| #include <Eigen/IterativeLinearSolvers> | ||
| // #include <unsupported/Eigen/IterativeSolvers> | ||
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| #include "dart/math/MathTypes.hpp" | ||
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| namespace dart { | ||
| namespace utils { | ||
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| /** | ||
| * Create (and pre-factor) a smoother that can remove the "jerk" from a time | ||
| * series of data. | ||
| * | ||
| * The alpha value will determine how much smoothing to apply. A value of 0 | ||
| * corresponds to no smoothing. | ||
| */ | ||
| AccelerationMinimizer::AccelerationMinimizer( | ||
| int timesteps, | ||
| s_t smoothingWeight, | ||
| s_t regularizationWeight, | ||
| s_t startPositionZeroWeight, | ||
| s_t endPositionZeroWeight, | ||
| s_t startVelocityZeroWeight, | ||
| s_t endVelocityZeroWeight, | ||
| int numIterations) | ||
| : mTimesteps(timesteps), | ||
| mSmoothingWeight(smoothingWeight), | ||
| mRegularizationWeight(regularizationWeight), | ||
| mStartPositionZeroWeight(startPositionZeroWeight * timesteps), | ||
| mEndPositionZeroWeight(endPositionZeroWeight * timesteps), | ||
| mStartVelocityZeroWeight(startVelocityZeroWeight * timesteps), | ||
| mEndVelocityZeroWeight(endVelocityZeroWeight * timesteps), | ||
| mNumIterations(numIterations), | ||
| mNumIterationsBackoff(6), | ||
| mDebugIterationBackoff(false), | ||
| mConvergenceTolerance(1e-10) | ||
| { | ||
| Eigen::Vector3s stamp; | ||
| stamp << -1, 2, -1; | ||
| stamp *= mSmoothingWeight; | ||
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| typedef Eigen::Triplet<s_t> T; | ||
| std::vector<T> tripletList; | ||
| const int accTimesteps = mTimesteps - 2; | ||
| for (int i = 0; i < accTimesteps; i++) | ||
| { | ||
| for (int j = 0; j < 3; j++) | ||
| { | ||
| tripletList.push_back(T(i, i + j, stamp(j))); | ||
| } | ||
| } | ||
| // Add start velocity zero constraint | ||
| tripletList.push_back(T(accTimesteps, 0, mStartVelocityZeroWeight)); | ||
| tripletList.push_back(T(accTimesteps, 1, -mStartVelocityZeroWeight)); | ||
| // Add end velocity zero constraint | ||
| tripletList.push_back( | ||
| T(accTimesteps + 1, mTimesteps - 2, mEndVelocityZeroWeight)); | ||
| tripletList.push_back( | ||
| T(accTimesteps + 1, mTimesteps - 1, -mEndVelocityZeroWeight)); | ||
| // Add start position zero constraint | ||
| tripletList.push_back(T(accTimesteps + 2, 0, mStartPositionZeroWeight)); | ||
| // Add end position zero constraint | ||
| tripletList.push_back( | ||
| T(accTimesteps + 3, mTimesteps - 1, mEndPositionZeroWeight)); | ||
| for (int i = 0; i < mTimesteps; i++) | ||
| { | ||
| tripletList.push_back(T(accTimesteps + 4 + i, i, mRegularizationWeight)); | ||
| } | ||
| mB_sparse | ||
| = Eigen::SparseMatrix<s_t>(accTimesteps + 4 + mTimesteps, mTimesteps); | ||
| mB_sparse.setFromTriplets(tripletList.begin(), tripletList.end()); | ||
| mB_sparse.makeCompressed(); | ||
| mB_sparseSolver.analyzePattern(mB_sparse); | ||
| mB_sparseSolver.factorize(mB_sparse); | ||
| if (mB_sparseSolver.info() != Eigen::Success) | ||
| { | ||
| std::cout << "mB_sparseSolver.factorize(mB_sparse) error: " | ||
| << mB_sparseSolver.lastErrorMessage() << std::endl; | ||
| } | ||
| assert(mB_sparseSolver.info() == Eigen::Success); | ||
| } | ||
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| Eigen::VectorXs AccelerationMinimizer::minimize(Eigen::VectorXs series) | ||
| { | ||
| const int accTimesteps = mTimesteps - 2; | ||
| Eigen::VectorXs b = Eigen::VectorXs(accTimesteps + 4 + mTimesteps); | ||
| b.segment(0, accTimesteps + 4).setZero(); | ||
| b.segment(accTimesteps + 4, mTimesteps) = series * mRegularizationWeight; | ||
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| Eigen::VectorXs x = series; | ||
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| int iterations = mNumIterations; | ||
| for (int i = 0; i < mNumIterationsBackoff; i++) | ||
| { | ||
| Eigen::LeastSquaresConjugateGradient<Eigen::SparseMatrix<s_t>> solver; | ||
| solver.compute(mB_sparse); | ||
| solver.setTolerance(mConvergenceTolerance); | ||
| solver.setMaxIterations(iterations); | ||
| x = solver.solveWithGuess(b, series); | ||
| // Check convergence | ||
| if (solver.info() == Eigen::Success) | ||
| { | ||
| // Converged | ||
| break; | ||
| } | ||
| else | ||
| { | ||
| if (mDebugIterationBackoff) | ||
| { | ||
| std::cout | ||
| << "[AccelerationMinimizer] LeastSquaresConjugateGradient did " | ||
| "not converge in " | ||
| << iterations << ", with error " << solver.error() | ||
| << " so doubling iteration count and trying again." << std::endl; | ||
| } | ||
| iterations *= 2; | ||
| } | ||
| } | ||
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| return x; | ||
| } | ||
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| void AccelerationMinimizer::setDebugIterationBackoff(bool debug) | ||
| { | ||
| mDebugIterationBackoff = debug; | ||
| } | ||
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| void AccelerationMinimizer::setNumIterationsBackoff(int numIterations) | ||
| { | ||
| mNumIterationsBackoff = numIterations; | ||
| } | ||
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| void AccelerationMinimizer::setConvergenceTolerance(s_t tolerance) | ||
| { | ||
| mConvergenceTolerance = tolerance; | ||
| } | ||
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| } // namespace utils | ||
| } // namespace dart |
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| #ifndef UTILS_ACC_MINIMIZER | ||
| #define UTILS_ACC_MINIMIZER | ||
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| #include <Eigen/Sparse> | ||
| #include <Eigen/SparseQR> | ||
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| #include "dart/math/MathTypes.hpp" | ||
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| namespace dart { | ||
| namespace utils { | ||
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| class AccelerationMinimizer | ||
| { | ||
| public: | ||
| AccelerationMinimizer( | ||
| int numTimesteps, | ||
| s_t smoothingWeight = 1.0, | ||
| s_t regularizationWeight = 0.01, | ||
| s_t startPositionZeroWeight = 0.0, | ||
| s_t endPositionZeroWeight = 0.0, | ||
| s_t startVelocityZeroWeight = 0.0, | ||
| s_t endVelocityZeroWeight = 0.0, | ||
| int numIterations = 10000); | ||
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| Eigen::VectorXs minimize(Eigen::VectorXs series); | ||
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| void setDebugIterationBackoff(bool debug); | ||
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| void setNumIterationsBackoff(int numIterations); | ||
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| void setConvergenceTolerance(s_t tolerance); | ||
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| protected: | ||
| int mTimesteps; | ||
| s_t mSmoothingWeight; | ||
| s_t mRegularizationWeight; | ||
| s_t mStartPositionZeroWeight; | ||
| s_t mEndPositionZeroWeight; | ||
| s_t mStartVelocityZeroWeight; | ||
| s_t mEndVelocityZeroWeight; | ||
| int mNumIterations; | ||
| int mNumIterationsBackoff; | ||
| bool mDebugIterationBackoff; | ||
| s_t mConvergenceTolerance; | ||
| Eigen::SparseMatrix<s_t> mB_sparse; | ||
| Eigen::SparseQR<Eigen::SparseMatrix<s_t>, Eigen::NaturalOrdering<int>> | ||
| mB_sparseSolver; | ||
| }; | ||
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| } // namespace utils | ||
| } // namespace dart | ||
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| #endif |
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| /* | ||
| * Copyright (c) 2011-2019, The DART development contributors | ||
| * All rights reserved. | ||
| * | ||
| * The list of contributors can be found at: | ||
| * https://github.com/dartsim/dart/blob/master/LICENSE | ||
| * | ||
| * This file is provided under the following "BSD-style" License: | ||
| * Redistribution and use in source and binary forms, with or | ||
| * without modification, are permitted provided that the following | ||
| * conditions are met: | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND | ||
| * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | ||
| * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF | ||
| * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR | ||
| * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF | ||
| * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #include <dart/utils/AccelerationMinimizer.hpp> | ||
| #include <pybind11/eigen.h> | ||
| #include <pybind11/pybind11.h> | ||
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| namespace py = pybind11; | ||
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| namespace dart { | ||
| namespace python { | ||
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| void AccelerationMinimizer(py::module& m) | ||
| { | ||
| ::py::class_<dart::utils::AccelerationMinimizer>(m, "AccelerationMinimizer") | ||
| .def( | ||
| ::py::init<int, s_t, s_t, s_t, s_t, s_t, s_t, int>(), | ||
| ::py::arg("numTimesteps"), | ||
| ::py::arg("smoothingWeight") = 1.0, | ||
| ::py::arg("regularizationWeight") = 0.01, | ||
| ::py::arg("startPositionZeroWeight") = 0.0, | ||
| ::py::arg("endPositionZeroWeight") = 0.0, | ||
| ::py::arg("startVelocityZeroWeight") = 0.0, | ||
| ::py::arg("endVelocityZeroWeight") = 0.0, | ||
| ::py::arg("numIterations") = 10000) | ||
| .def( | ||
| "minimize", | ||
| &dart::utils::AccelerationMinimizer::minimize, | ||
| ::py::arg("series")) | ||
| .def( | ||
| "setDebugIterationBackoff", | ||
| &dart::utils::AccelerationMinimizer::setDebugIterationBackoff, | ||
| ::py::arg("iterations")) | ||
| .def( | ||
| "setNumIterationsBackoff", | ||
| &dart::utils::AccelerationMinimizer::setNumIterationsBackoff, | ||
| ::py::arg("series")) | ||
| .def( | ||
| "setConvergenceTolerance", | ||
| &dart::utils::AccelerationMinimizer::setConvergenceTolerance, | ||
| ::py::arg("tolerance")); | ||
| } | ||
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| } // namespace python | ||
| } // namespace dart |
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