optimizeConstraintCustomizedCost.m

%{
 * Copyright (C) 2013-2020, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
 * be available under alternative licensing terms; contact the address above.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 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.
 * 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 OWNER 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 CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * The views and conclusions contained in the software and documentation are those
 * of the authors and should not be interpreted as representing official policies,
 * either expressed or implied, of the Regents of The University of Michigan.
 * 
 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function opt = optimizeConstraintCustomizedCost(opt, X, target_size, box_width)
    theta_x = optimvar('theta_x', 1, 1,'LowerBound',-90,'UpperBound',90); % 1x1
    theta_y = optimvar('theta_y', 1, 1,'LowerBound',-90,'UpperBound',90); % 1x1
    theta_z = optimvar('theta_z', 1, 1,'LowerBound',-90,'UpperBound',90); % 1x1
    T = optimvar('T', 1, 3); % 1x3
    prob = optimproblem;
    f = fcn2optimexpr(@computeConstraintCustomizedCost, X, ...
                       theta_x, theta_y, theta_z, T, target_size, box_width);
    prob.Objective = f;
    x0.theta_x = 0;
    x0.theta_y = 0;
    x0.theta_z = 0;
    x0.T = opt.T_init;

%             options = optimoptions('fmincon', 'MaxIter',5e2,'Display','iter', 'TolX', 1e-6, 'TolFun', 1e-6, 'MaxFunctionEvaluations', 3e4);
    options = optimoptions('fmincon', 'MaxIter',5e2, 'Display','off', 'TolX', 1e-6, 'TolFun', 1e-6, 'MaxFunctionEvaluations', 3e4);
    max_trail = 5;
    num_tried = 1;
    status = 0;
    while status <=0 
        [sol, fval, status, ~] = solve(prob, x0, 'Options', options);
        if status <=0 
            warning("optimization failed")
        end
        num_tried = num_tried + 1;
        if (num_tried + 1 > max_trail)
            warning("tried too many time, optimization still failed, current status:")
            disp(status)
            break;
        end
    end
    R_final = rotx(sol.theta_x) * roty(sol.theta_y) * rotz(sol.theta_z);
    opt.H_opt = eye(4);
    opt.H_opt(1:3, 1:3) = R_final;
    opt.H_opt(1:3, 4) = sol.T;
    opt.opt_total_cost = fval;
end