GradientDescentSolver.hpp

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#ifndef DART_OPTIMIZER_GRADIENTDESCENTSOLVER_HPP_
#define DART_OPTIMIZER_GRADIENTDESCENTSOLVER_HPP_
 
#include <random>
 
#include "dart/optimizer/Solver.hpp"
 
namespace dart {
namespace optimizer {
 
class GradientDescentSolver : public Solver
{
public:
  static const std::string Type;
 
  struct UniqueProperties
  {
    double mStepSize;
 
    std::size_t mMaxAttempts;
 
    std::size_t mPerturbationStep;
 
    double mMaxPerturbationFactor;
 
    double mMaxRandomizationStep;
 
    double mDefaultConstraintWeight;
 
    Eigen::VectorXd mEqConstraintWeights;
 
    Eigen::VectorXd mIneqConstraintWeights;
 
    UniqueProperties(
        double _stepMultiplier = 0.1,
        std::size_t _maxAttempts = 1,
        std::size_t _perturbationStep = 0,
        double _maxPerturbationFactor = 1.0,
        double _maxRandomizationStep = 1e10,
        double _defaultConstraintWeight = 1.0,
        Eigen::VectorXd _eqConstraintWeights = Eigen::VectorXd(),
        Eigen::VectorXd _ineqConstraintWeights = Eigen::VectorXd());
  };
 
  struct Properties : Solver::Properties, UniqueProperties
  {
    Properties(
        const Solver::Properties& _solverProperties = Solver::Properties(),
        const UniqueProperties& _descentProperties = UniqueProperties());
  };
 
  explicit GradientDescentSolver(const Properties& _properties = Properties());
 
  explicit GradientDescentSolver(std::shared_ptr<Problem> _problem);
 
  virtual ~GradientDescentSolver();
 
  // Documentation inherited
  bool solve() override;
 
  Eigen::VectorXd getLastConfiguration() const;
 
  // Documentation inherited
  std::string getType() const override;
 
  // Documentation inherited
  std::shared_ptr<Solver> clone() const override;
 
  void setProperties(const Properties& _properties);
 
  void setProperties(const UniqueProperties& _properties);
 
  Properties getGradientDescentProperties() const;
 
  void copy(const GradientDescentSolver& _other);
 
  GradientDescentSolver& operator=(const GradientDescentSolver& _other);
 
  void setStepSize(double _newMultiplier);
 
  double getStepSize() const;
 
  void setMaxAttempts(std::size_t _maxAttempts);
 
  std::size_t getMaxAttempts() const;
 
  void setPerturbationStep(std::size_t _step);
 
  std::size_t getPerturbationStep() const;
 
  void setMaxPerturbationFactor(double _factor);
 
  double getMaxPerturbationFactor() const;
 
  void setDefaultConstraintWeight(double _newDefault);
 
  double getDefaultConstraintWeight() const;
 
  Eigen::VectorXd& getEqConstraintWeights();
 
  const Eigen::VectorXd& getEqConstraintWeights() const;
 
  Eigen::VectorXd& getIneqConstraintWeights();
 
  const Eigen::VectorXd& getIneqConstraintWeights() const;
 
  void randomizeConfiguration(Eigen::VectorXd& _x);
 
  void clampToBoundary(Eigen::VectorXd& _x);
 
  std::size_t getLastNumIterations() const;
 
protected:
  UniqueProperties mGradientP;
 
  std::size_t mLastNumIterations;
 
  std::random_device mRD;
 
  std::mt19937 mMT;
 
  std::uniform_real_distribution<double> mDistribution;
 
  Eigen::VectorXd mEqConstraintCostCache;
 
  Eigen::VectorXd mIneqConstraintCostCache;
 
  Eigen::VectorXd mLastConfig;
};
 
} // namespace optimizer
} // namespace dart
 
#endif // DART_OPTIMIZER_GRADIENTDESCENTSOLVER_HPP_