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Introduce soft constraints

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Use a penalty method as a quick & dirty way to get started.
This commit is contained in:
Aaron Fenyes 2025-09-18 10:31:44 -07:00
parent 9e74d4e837
commit 3664ea73b1
3 changed files with 105 additions and 59 deletions
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11
app-proto/src/assembly.rs
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@ -402,6 +402,7 @@ pub struct InversiveDistanceRegulator {
pub subjects: [Rc<dyn Element>; 2],
pub measurement: ReadSignal<f64>,
pub set_point: Signal<SpecifiedValue>,
pub soft: Signal<bool>,
distortion: Option<ReadSignal<f64>>, /* KLUDGE */
serial: u64,
}
@ -432,9 +433,10 @@ impl InversiveDistanceRegulator {
} else {
None
};
let soft = create_signal(false);
let serial = Self::next_serial();
Self { subjects, measurement, set_point, distortion, serial }
Self { subjects, measurement, set_point, soft, distortion, serial }
}
}
@ -464,6 +466,7 @@ impl Serial for InversiveDistanceRegulator {
impl ProblemPoser for InversiveDistanceRegulator {
fn pose(&self, problem: &mut ConstraintProblem) {
let soft = self.soft.get_untracked();
self.set_point.with_untracked(|set_pt| {
if let Some(val) = set_pt.value {
let [row, col] = self.subjects.each_ref().map(
@ -471,7 +474,11 @@ impl ProblemPoser for InversiveDistanceRegulator {
"Subjects should be indexed before inversive distance regulator writes problem data"
)
);
problem.gram.push_sym(row, col, val);
if soft {
problem.soft.push_sym(row, col, val);
} else {
problem.gram.push_sym(row, col, val);
}
}
});
}