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Support storing sco::Optimizer::Callbacks in ProblemConstructionInfo class #291

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merged 2 commits into from
Jul 1, 2022
Merged

Support storing sco::Optimizer::Callbacks in ProblemConstructionInfo class #291

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98538d3
Add the ability to store sco::Optimizer::Callbacks in ProblemConstruc…
Levi-Armstrong Jun 29, 2022
2e1b4c9
Simplify PlotCallback
Levi-Armstrong Jun 29, 2022
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3 changes: 2 additions & 1 deletion trajopt/include/trajopt/plot_callback.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,8 @@ Returns a callback function suitable for an Optimizer.
This callback will plot the trajectory (with translucent copies of the robot) as
well as all of the Cost and Constraint functions with plot methods
*/
sco::Optimizer::Callback PlotCallback(TrajOptProb& prob, const tesseract_visualization::Visualization::Ptr& plotter);
sco::Optimizer::Callback PlotCallback(const tesseract_visualization::Visualization::Ptr& plotter);

/**
* @brief Returns a callback suitable for an optimizer but does not require the problem
* @param plotter
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2 changes: 2 additions & 0 deletions trajopt/include/trajopt/problem_description.hpp
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Expand Up @@ -215,6 +215,8 @@ struct ProblemConstructionInfo
tesseract_environment::Environment::ConstPtr env;
tesseract_kinematics::JointGroup::ConstPtr kin;

std::vector<sco::Optimizer::Callback> callbacks;

ProblemConstructionInfo(tesseract_environment::Environment::ConstPtr env) : env(std::move(env)) {}

void fromJson(const Json::Value& v);
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15 changes: 8 additions & 7 deletions trajopt/src/plot_callback.cpp
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Expand Up @@ -47,16 +47,17 @@ void PlotCosts(const tesseract_visualization::Visualization::Ptr& plotter,
plotter->waitForInput();
}

sco::Optimizer::Callback PlotCallback(TrajOptProb& prob, const tesseract_visualization::Visualization::Ptr& plotter)
sco::Optimizer::Callback PlotCallback(const tesseract_visualization::Visualization::Ptr& plotter)
{
return [&prob, plotter](sco::OptProb*, sco::OptResults& results) {
auto state_solver = prob.GetEnv()->getStateSolver();
return [plotter](sco::OptProb* prob, sco::OptResults& results) {
auto& trajopt_prob = dynamic_cast<TrajOptProb&>(*prob);
auto state_solver = trajopt_prob.GetEnv()->getStateSolver();
PlotCosts(plotter,
*state_solver,
prob.GetKin()->getJointNames(),
std::ref(prob.getCosts()),
prob.getConstraints(),
std::ref(prob.GetVars()),
trajopt_prob.GetKin()->getJointNames(),
std::ref(trajopt_prob.getCosts()),
trajopt_prob.getConstraints(),
std::ref(trajopt_prob.GetVars()),
results);
};
}
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2 changes: 1 addition & 1 deletion trajopt/src/problem_description.cpp
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Expand Up @@ -394,7 +394,7 @@ TrajOptResult::Ptr OptimizeProblem(const TrajOptProb::Ptr& prob,
param.improve_ratio_threshold = .2;
param.initial_merit_error_coeff = 20;
if (plotter)
opt.addCallback(PlotCallback(*prob, plotter));
opt.addCallback(PlotCallback(plotter));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();
return std::make_shared<TrajOptResult>(opt.results(), *prob);
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4 changes: 2 additions & 2 deletions trajopt/test/cast_cost_attached_unit.cpp
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Expand Up @@ -126,7 +126,7 @@ TEST_F(CastAttachedTest, LinkWithGeom) // NOLINT

sco::BasicTrustRegionSQP opt(prob);
if (plotting)
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();

Expand Down Expand Up @@ -176,7 +176,7 @@ TEST_F(CastAttachedTest, LinkWithoutGeom) // NOLINT

sco::BasicTrustRegionSQP opt(prob);
if (plotting)
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();

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2 changes: 1 addition & 1 deletion trajopt/test/cast_cost_octomap_unit.cpp
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Expand Up @@ -125,7 +125,7 @@ TEST_F(CastOctomapTest, boxes) // NOLINT

sco::BasicTrustRegionSQP opt(prob);
if (plotting)
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();

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2 changes: 1 addition & 1 deletion trajopt/test/cast_cost_unit.cpp
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Expand Up @@ -86,7 +86,7 @@ TEST_F(CastTest, boxes) // NOLINT

sco::BasicTrustRegionSQP opt(prob);
if (plotting)
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();

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2 changes: 1 addition & 1 deletion trajopt/test/cast_cost_world_unit.cpp
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Expand Up @@ -109,7 +109,7 @@ TEST_F(CastWorldTest, boxes) // NOLINT

sco::BasicTrustRegionSQP opt(prob);
if (plotting)
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();

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16 changes: 8 additions & 8 deletions trajopt/test/joint_costs_unit.cpp
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Expand Up @@ -107,7 +107,7 @@ TEST_F(CostsTest, equality_jointPos) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
Expand Down Expand Up @@ -214,7 +214,7 @@ TEST_F(CostsTest, inequality_jointPos) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
Expand Down Expand Up @@ -309,7 +309,7 @@ TEST_F(CostsTest, equality_jointVel) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
Expand Down Expand Up @@ -416,7 +416,7 @@ TEST_F(CostsTest, inequality_jointVel) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
Expand Down Expand Up @@ -514,7 +514,7 @@ TEST_F(CostsTest, equality_jointVel_time) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
Expand Down Expand Up @@ -627,7 +627,7 @@ TEST_F(CostsTest, inequality_jointVel_time) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
Expand Down Expand Up @@ -722,7 +722,7 @@ TEST_F(CostsTest, equality_jointAcc) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
Expand Down Expand Up @@ -831,7 +831,7 @@ TEST_F(CostsTest, inequality_jointAcc) // NOLINT
sco::BasicTrustRegionSQP opt(prob);
if (plotting)
{
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
}

opt.initialize(trajToDblVec(prob->GetInitTraj()));
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2 changes: 1 addition & 1 deletion trajopt/test/simple_collision_unit.cpp
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Expand Up @@ -86,7 +86,7 @@ TEST_F(SimpleCollisionTest, spheres) // NOLINT

sco::BasicTrustRegionSQP opt(prob);
if (plotting)
opt.addCallback(PlotCallback(*prob, plotter_));
opt.addCallback(PlotCallback(plotter_));
opt.initialize(trajToDblVec(prob->GetInitTraj()));
opt.optimize();

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