semiquadratic_polyline2_cost.h

/*
 * Copyright (c) 2019, The Regents of the University of California (Regents).
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
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 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. 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.
 *
 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 *
 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// Semiquadratic cost on distance from a polyline.
//
///////////////////////////////////////////////////////////////////////////////

#ifndef ILQGAMES_COST_SEMIQUADRATIC_POLYLINE2_COST_H
#define ILQGAMES_COST_SEMIQUADRATIC_POLYLINE2_COST_H

#include <ilqgames/cost/time_invariant_cost.h>
#include <ilqgames/geometry/polyline2.h>
#include <ilqgames/utils/types.h>

#include <string>
#include <tuple>

namespace ilqgames {

class SemiquadraticPolyline2Cost : public TimeInvariantCost {
 public:
  // Construct from a multiplicative weight, the input dimensions corresponding
  // to (x, y)-position, a threshold, and a flag for which side to apply it.
  SemiquadraticPolyline2Cost(
      float weight, const Polyline2& polyline,
      const std::pair<Dimension, Dimension>& position_idxs, float threshold,
      bool oriented_right, const std::string& name = "")
      : TimeInvariantCost(weight, name),
        polyline_(polyline),
        xidx_(position_idxs.first),
        yidx_(position_idxs.second),
        threshold_(threshold),
        signed_squared_threshold_(sgn(threshold) * threshold * threshold),
        oriented_right_(oriented_right) {}

  // Evaluate this cost at the current input.
  float Evaluate(const VectorXf& input) const;

  // Quadraticize this cost at the given input, and add to the running
  // sum of gradients and Hessians.
  void Quadraticize(const VectorXf& input, MatrixXf* hess,
                    VectorXf* grad) const;

 private:
  // Check if cost is active.
  bool IsActive(float signed_squared_distance) const {
    return (signed_squared_distance > signed_squared_threshold_ &&
            oriented_right_) ||
           (signed_squared_distance < signed_squared_threshold_ &&
            !oriented_right_);
  }

  // Polyline to compute distances from.
  const Polyline2 polyline_;

  // Dimensions of input corresponding to (x, y)-position.
  const Dimension xidx_;
  const Dimension yidx_;

  // Threshold and orientation.
  const float threshold_;
  const float signed_squared_threshold_;
  const bool oriented_right_;
};  //\class QuadraticPolyline2Cost

}  // namespace ilqgames

#endif