cost_functions.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <armarx/navigation/global_planning/optimization/math.h>
 
#include <ceres/ceres.h>
 
namespace armarx::navigation::global_planning::optimization
{
 
    struct SmoothOrientationFixedPreCostFunctor : ceres::CostFunction
    {
 
        SmoothOrientationFixedPreCostFunctor(const double yawPre, const double weight) :
            yawPre(yawPre), weight(weight)
        {
            set_num_residuals(2);
 
            mutable_parameter_block_sizes()->push_back(1);
            mutable_parameter_block_sizes()->push_back(1);
        }
 
        bool
        Evaluate(double const* const* parameters,
                 double* residuals,
                 double** jacobians) const override
        {
            // One value per parameter block: the block sizes declared above are all 1, so
            // `parameters[k][0]` is block k. Reading `parameters[0][k]` instead runs off the end
            // of the first block into whatever Ceres happens to have put next to it -- which is
            // adjacent stack storage in a hand-written call and unrelated heap in a real solve,
            // so it can look correct in a test and be wrong in the solver.
            const double yaw = parameters[0][0];
            const double yawNext = parameters[1][0];
 
            residuals[0] = weight * periodicDiff(yawPre, yaw);
            residuals[1] = weight * periodicDiff(yaw, yawNext);
 
            const auto periodicDiffJ0 = periodicDiffJacobian(yawPre, yaw);
            const auto periodicDiffJ1 = periodicDiffJacobian(yaw, yawNext);
 
            if (jacobians == nullptr)
            {
                return true;
            }
            // Each block's jacobian is requested independently: Ceres passes a null for any
            // block it is holding constant, and the callee must still fill the others. Bailing
            // out on the first null left the later ones as whatever the buffer held, which is
            // what Ceres reports as `Jacobian ... indicated by 'Uninitialized'`.
            if (double* jacobian0 = jacobians[0]; jacobian0 != nullptr)
            {
                // d r_i / d p_0
                jacobian0[0] = weight * periodicDiffJ0.at(1);
                jacobian0[1] = weight * periodicDiffJ1.at(0);
            }
 
            if (double* jacobian1 = jacobians[1]; jacobian1 != nullptr)
            {
                // d r_i / d p_1
                jacobian1[0] = 0.;
                jacobian1[1] = weight * periodicDiffJ1.at(1);
            }
 
            return true;
        }
 
    private:
        const double yawPre;
        const double weight;
    };
 
    struct SmoothOrientationFixedNextCostFunctor : ceres::CostFunction
    {
 
        SmoothOrientationFixedNextCostFunctor(const double yawNext, const double weight) :
            yawNext(yawNext), weight(weight)
        {
            set_num_residuals(2);
 
            mutable_parameter_block_sizes()->push_back(1);
            mutable_parameter_block_sizes()->push_back(1);
        }
 
        bool
        Evaluate(double const* const* parameters,
                 double* residuals,
                 double** jacobians) const override
        {
            // One value per parameter block: the block sizes declared above are all 1, so
            // `parameters[k][0]` is block k. Reading `parameters[0][k]` instead runs off the end
            // of the first block into whatever Ceres happens to have put next to it -- which is
            // adjacent stack storage in a hand-written call and unrelated heap in a real solve,
            // so it can look correct in a test and be wrong in the solver.
            const double yawPre = parameters[0][0];
            const double yaw = parameters[1][0];
 
            residuals[0] = weight * periodicDiff(yawPre, yaw);
            residuals[1] = weight * periodicDiff(yaw, yawNext);
 
            const auto periodicDiffJ0 = periodicDiffJacobian(yawPre, yaw);
            const auto periodicDiffJ1 = periodicDiffJacobian(yaw, yawNext);
 
            if (jacobians == nullptr)
            {
                return true;
            }
            // Each block's jacobian is requested independently: Ceres passes a null for any
            // block it is holding constant, and the callee must still fill the others. Bailing
            // out on the first null left the later ones as whatever the buffer held, which is
            // what Ceres reports as `Jacobian ... indicated by 'Uninitialized'`.
            if (double* jacobian0 = jacobians[0]; jacobian0 != nullptr)
            {
                // d r_i / d yawPre
                jacobian0[0] = weight * periodicDiffJ0.at(0);
                jacobian0[1] = 0;
            }
 
            if (double* jacobian1 = jacobians[1]; jacobian1 != nullptr)
            {
                // d r_i / d yaw
                jacobian1[0] = weight * periodicDiffJ0.at(1);
                jacobian1[1] = weight * periodicDiffJ1.at(0);
            }
 
            return true;
        }
 
    private:
        const double yawNext;
        const double weight;
    };
 
    struct OrientationPriorCostFunctor : ceres::SizedCostFunction<1, 1>
    {
 
        OrientationPriorCostFunctor(const double prior, const double weight) :
            prior(prior), weight(weight)
        {
        }
 
        bool
        Evaluate(double const* const* parameters,
                 double* residuals,
                 double** jacobians) const override
        {
            const double yaw = parameters[0][0];
 
            residuals[0] = weight * periodicDiff(prior, yaw);
 
            const auto periodicDiffJ = periodicDiffJacobian(prior, yaw);
 
            if (jacobians == nullptr)
            {
                return true;
            }
            double* jacobian = jacobians[0];
            if (jacobian == nullptr)
            {
                return true;
            }
 
 
            jacobian[0] = weight * periodicDiffJ.at(1);
            return true;
        }
 
    private:
        const double prior;
        const double weight;
    };
 
    struct SmoothOrientationCostFunctor : ceres::CostFunction
    {
 
        SmoothOrientationCostFunctor(const double weight) : weight(weight)
        {
            set_num_residuals(2);
 
            mutable_parameter_block_sizes()->push_back(1);
            mutable_parameter_block_sizes()->push_back(1);
            mutable_parameter_block_sizes()->push_back(1);
        }
 
        bool
        Evaluate(double const* const* parameters,
                 double* residuals,
                 double** jacobians) const override
        {
            // One value per parameter block: the block sizes declared above are all 1, so
            // `parameters[k][0]` is block k. Reading `parameters[0][k]` instead runs off the end
            // of the first block into whatever Ceres happens to have put next to it -- which is
            // adjacent stack storage in a hand-written call and unrelated heap in a real solve,
            // so it can look correct in a test and be wrong in the solver.
            const double yawPrev = parameters[0][0];
            const double yaw = parameters[1][0];
            const double yawNext = parameters[2][0];
 
            residuals[0] = weight * periodicDiff(yawPrev, yaw);
            residuals[1] = weight * periodicDiff(yaw, yawNext);
 
            const auto periodicDiffJ0 = periodicDiffJacobian(yawPrev, yaw);
            const auto periodicDiffJ1 = periodicDiffJacobian(yaw, yawNext);
 
            if (jacobians == nullptr)
            {
                return true;
            }
 
            // Each block's jacobian is requested independently: Ceres passes a null for any
            // block it is holding constant, and the callee must still fill the others. Bailing
            // out on the first null left the later ones as whatever the buffer held, which is
            // what Ceres reports as `Jacobian ... indicated by 'Uninitialized'`.
            if (double* jacobian0 = jacobians[0]; jacobian0 != nullptr)
            {
                // d r_i / d yawPrev
                jacobian0[0] = weight * periodicDiffJ0.at(0);
                jacobian0[1] = 0.;
            }
 
            if (double* jacobian1 = jacobians[1]; jacobian1 != nullptr)
            {
                // d r_i / d yaw
                jacobian1[0] = weight * periodicDiffJ0.at(1);
                jacobian1[1] = weight * periodicDiffJ1.at(0);
            }
 
            if (double* jacobian2 = jacobians[2]; jacobian2 != nullptr)
            {
                // d r_i / d yawNext
                jacobian2[0] = 0.;
                jacobian2[1] = weight * periodicDiffJ1.at(1);
            }
 
            return true;
        }
 
    private:
        const double weight;
    };
 
} // namespace armarx::navigation::global_planning::optimization