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Use corresponding QP solver for LCP problem resolution as well
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src/SoftRobots.Inverse/component/solver/modules/LCPQPSolverProxQP.cpp
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| /****************************************************************************** | ||
| * SOFA, Simulation Open-Framework Architecture * | ||
| * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * | ||
| * * | ||
| * This program is free software; you can redistribute it and/or modify it * | ||
| * under the terms of the GNU Lesser General Public License as published by * | ||
| * the Free Software Foundation; either version 2.1 of the License, or (at * | ||
| * your option) any later version. * | ||
| * * | ||
| * This program 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 Lesser General Public License * | ||
| * for more details. * | ||
| * * | ||
| * You should have received a copy of the GNU Lesser General Public License * | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
| ******************************************************************************* | ||
| * Plugin SoftRobots.Inverse * | ||
| * * | ||
| * This plugin is distributed under the GNU AGPL v3 (Affero General * | ||
| * Public License) license. * | ||
| * * | ||
| * Authors: Christian Duriez, Eulalie Coevoet, Yinoussa Adagolodjo * | ||
| * * | ||
| * (c) 2023 INRIA * | ||
| * * | ||
| * Contact information: https://project.inria.fr/softrobot/contact/ * | ||
| ******************************************************************************/ | ||
|
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| #include <sofa/helper/logging/Messaging.h> | ||
| #include <SoftRobots.Inverse/component/solver/modules/LCPQPSolverProxQP.h> | ||
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| #include <proxsuite/proxqp/dense/dense.hpp> | ||
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| #include <optional> | ||
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| namespace softrobotsinverse::solver::module | ||
| { | ||
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| void LCPQPSolverProxQP::solve(int dim, double*q, double**M, double*res) | ||
| { | ||
| const int n_in = dim; | ||
| const int n_eq = 0; | ||
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| ////////////////////////////////////////// | ||
| // Constraints on lambda | ||
| ////////////////////////////////////////// | ||
| Eigen::VectorXd lbox(dim); // l | ||
| Eigen::VectorXd ubox(dim); // u | ||
| for (int i=0; i<dim; ++i) | ||
| { | ||
| ubox[i] = 1e99; | ||
| lbox[i] = 0.; | ||
| } | ||
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| ////////////////////////////////////////// | ||
| // Conversion to Eigen type | ||
| // TODO: try Eigen Mapping instead | ||
| ////////////////////////////////////////// | ||
| Eigen::MatrixXd H(dim, dim); // Q | ||
| Eigen::VectorXd g(dim); // c | ||
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| for (int i = 0; i < dim; ++i) | ||
| { | ||
| for (int j = 0; j < dim; ++j) | ||
| H(i, j) = M[i][j]; | ||
| g[i] = q[i]; | ||
| } | ||
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| ////////////////////////////////////////// | ||
| // Inequality constraint matrices | ||
| // TODO: try Eigen Mapping instead | ||
| ////////////////////////////////////////// | ||
| Eigen::VectorXd l(n_in); // bl | ||
| Eigen::VectorXd u(n_in); // bu | ||
| Eigen::MatrixXd C(n_in, n_in); // A | ||
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| for (int i = 0; i < n_in; ++i) | ||
| { | ||
| for (int j = 0; j < n_in; ++j) | ||
| C(i, j) = M[i][j]; | ||
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| u[i] = 1e99; | ||
| l[i] = -q[i]; | ||
| } | ||
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| ///////////////////////////////////////// | ||
| // Solve | ||
| ///////////////////////////////////////// | ||
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| proxsuite::proxqp::dense::QP<double> qp(dim, n_eq, n_in, true); // create the QP object with box constraints | ||
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| const double rho = 1e-14; // default is 1e-6, but has to be set smaller due to low values in Hessian when using data in meters (e.g. from URDF models) | ||
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| qp.init(H, g, std::nullopt, std::nullopt, C, l, u, lbox, ubox, true, rho); // initialize the model | ||
| // qp.init(H, g, A, b, C, l, u, lbox, ubox, true, rho); // initialize the model | ||
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| qp.settings.eps_rel = 0.; | ||
| qp.settings.eps_abs = 1e-12; // default is 1e-5 | ||
| qp.settings.check_duality_gap = true; | ||
| qp.settings.verbose = false; | ||
| qp.settings.max_iter = 3000; | ||
| // same here, default is 1e-4 for these epsilons, but has to be set smaller due to low values in Hessian when using data in meters (e.g. from URDF models) | ||
| qp.settings.eps_primal_inf = 1e-12; | ||
| qp.settings.eps_dual_inf = 1e-12; | ||
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| qp.solve(); | ||
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| switch(qp.results.info.status) | ||
| { | ||
| case proxsuite::proxqp::QPSolverOutput::PROXQP_SOLVED: | ||
| break; | ||
| case proxsuite::proxqp::QPSolverOutput::PROXQP_MAX_ITER_REACHED: | ||
| msg_warning("QPInverseProblemImpl") << "Solver status: PROXQP_MAX_ITER_REACHED"; | ||
| break; | ||
| case proxsuite::proxqp::QPSolverOutput::PROXQP_PRIMAL_INFEASIBLE: | ||
| msg_warning("QPInverseProblemImpl") << "Solver status: PROXQP_PRIMAL_INFEASIBLE"; | ||
| break; | ||
| case proxsuite::proxqp::QPSolverOutput::PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE: | ||
| msg_warning("QPInverseProblemImpl") << "Solver status: PROXQP_SOLVED_CLOSEST_PRIMAL_FEASIBLE"; | ||
| break; | ||
| case proxsuite::proxqp::QPSolverOutput::PROXQP_DUAL_INFEASIBLE: | ||
| msg_warning("QPInverseProblemImpl") << "Solver status: PROXQP_DUAL_INFEASIBLE"; | ||
| break; | ||
| case proxsuite::proxqp::QPSolverOutput::PROXQP_NOT_RUN: | ||
| msg_warning("QPInverseProblemImpl") << "Solver status: PROXQP_NOT_RUN"; | ||
| break; | ||
| default: | ||
| msg_error("QPInverseProblemImpl") << "Unknown solver status"; | ||
| } | ||
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| // get primal solution | ||
| for (int i = 0; i < dim; ++i) | ||
| { | ||
| res[i] = qp.results.x[i]; | ||
| } | ||
| } | ||
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| } // namespace |
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src/SoftRobots.Inverse/component/solver/modules/LCPQPSolverProxQP.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| /****************************************************************************** | ||
| * SOFA, Simulation Open-Framework Architecture * | ||
| * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * | ||
| * * | ||
| * This program is free software; you can redistribute it and/or modify it * | ||
| * under the terms of the GNU Lesser General Public License as published by * | ||
| * the Free Software Foundation; either version 2.1 of the License, or (at * | ||
| * your option) any later version. * | ||
| * * | ||
| * This program 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 Lesser General Public License * | ||
| * for more details. * | ||
| * * | ||
| * You should have received a copy of the GNU Lesser General Public License * | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
| ******************************************************************************* | ||
| * Plugin SoftRobots.Inverse * | ||
| * * | ||
| * This plugin is distributed under the GNU AGPL v3 (Affero General * | ||
| * Public License) license. * | ||
| * * | ||
| * Authors: Christian Duriez, Eulalie Coevoet, Yinoussa Adagolodjo * | ||
| * * | ||
| * (c) 2023 INRIA * | ||
| * * | ||
| * Contact information: https://project.inria.fr/softrobot/contact/ * | ||
| ******************************************************************************/ | ||
| #pragma once | ||
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| #include <SoftRobots.Inverse/component/solver/modules/LCPQPSolver.h> | ||
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| // LCP solver using proxQP solver | ||
| // QP formulation for solving a LCP with a symmetric matrix M. | ||
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| namespace softrobotsinverse::solver::module { | ||
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| class LCPQPSolverProxQP: public LCPQPSolver | ||
| { | ||
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| public: | ||
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| LCPQPSolverProxQP() = default; | ||
| virtual ~LCPQPSolverProxQP() = default; | ||
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| void solve(int dim, double*q, double**M, double*res) override; | ||
| }; | ||
|
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| } // namespace | ||
|
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51
src/SoftRobots.Inverse/component/solver/modules/LCPQPSolverQPOases.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| /****************************************************************************** | ||
| * SOFA, Simulation Open-Framework Architecture * | ||
| * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * | ||
| * * | ||
| * This program is free software; you can redistribute it and/or modify it * | ||
| * under the terms of the GNU Lesser General Public License as published by * | ||
| * the Free Software Foundation; either version 2.1 of the License, or (at * | ||
| * your option) any later version. * | ||
| * * | ||
| * This program 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 Lesser General Public License * | ||
| * for more details. * | ||
| * * | ||
| * You should have received a copy of the GNU Lesser General Public License * | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * | ||
| ******************************************************************************* | ||
| * Plugin SoftRobots.Inverse * | ||
| * * | ||
| * This plugin is distributed under the GNU AGPL v3 (Affero General * | ||
| * Public License) license. * | ||
| * * | ||
| * Authors: Christian Duriez, Eulalie Coevoet, Yinoussa Adagolodjo * | ||
| * * | ||
| * (c) 2023 INRIA * | ||
| * * | ||
| * Contact information: https://project.inria.fr/softrobot/contact/ * | ||
| ******************************************************************************/ | ||
| #pragma once | ||
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| #include <SoftRobots.Inverse/component/solver/modules/LCPQPSolver.h> | ||
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| #include <SoftRobots.Inverse/component/solver/modules/LCPQPSolverQPOases.h> | ||
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| // LCP solver using qpOASES QP solver | ||
| // QP formulation for solving a LCP with a symmetric matrix M. | ||
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| namespace softrobotsinverse::solver::module { | ||
|
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| class LCPQPSolverQPOases: public LCPQPSolver | ||
| { | ||
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| public: | ||
| LCPQPSolverQPOases() = default; | ||
| virtual ~LCPQPSolverQPOases() = default; | ||
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| void solve(int dim, double*q, double**M, double*res) override; | ||
| }; | ||
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| } // namespace | ||
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