pymomentum-cpu 0.1.82.post0__cp312-cp312-macosx_14_0_arm64.whl

include/momentum/character_solver/gauss_newton_solver_qr.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character/skeleton_state.h>
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/skeleton_solver_function.h>
+#include <momentum/math/online_householder_qr.h>
+#include <momentum/solver/solver.h>
+
+#include <Eigen/Core>
+
+namespace momentum {
+
+/// Gauss-Newton solver with QR decomposition specific options
+struct GaussNewtonSolverQROptions : SolverOptions {
+  /// Damping parameter added to Hessian diagonal for numerical stability; see
+  /// https://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
+  float regularization = 0.05f;
+
+  /// Flag to enable line search during optimization.
+  bool doLineSearch = false;
+
+  GaussNewtonSolverQROptions() = default;
+
+  /* implicit */ GaussNewtonSolverQROptions(const SolverOptions& baseOptions)
+      : SolverOptions(baseOptions) {
+    // Empty
+  }
+};
+
+template <typename T>
+class GaussNewtonSolverQRT : public SolverT<T> {
+ public:
+  GaussNewtonSolverQRT(const SolverOptions& options, SkeletonSolverFunctionT<T>* solver);
+  ~GaussNewtonSolverQRT() override;
+
+  [[nodiscard]] std::string_view getName() const override;
+
+  void setOptions(const SolverOptions& options) final;
+
+ protected:
+  void doIteration() final;
+  void initializeSolver() final;
+
+ private:
+  std::unique_ptr<SkeletonStateT<T>> skeletonState_;
+  std::unique_ptr<MeshStateT<T>> meshState_;
+
+  ResizeableMatrix<T> jacobian_;
+  ResizeableMatrix<T> residual_;
+
+  OnlineHouseholderQR<T> qrSolver_;
+
+  float regularization_;
+  bool doLineSearch_;
+};
+
+} // namespace momentum

include/momentum/character_solver/limit_error_function.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character/parameter_limits.h>
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/limit_error_function.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+
+namespace momentum {
+
+template <typename T>
+class LimitErrorFunctionT : public SkeletonErrorFunctionT<T> {
+ public:
+  LimitErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      const ParameterLimits& pl = ParameterLimits());
+  explicit LimitErrorFunctionT(const Character& character);
+  LimitErrorFunctionT(const Character& character, const ParameterLimits& pl);
+
+  [[nodiscard]] double getError(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState) final;
+
+  double getGradient(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Ref<Eigen::VectorX<T>> gradient) final;
+
+  double getJacobian(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Ref<Eigen::MatrixX<T>> jacobian,
+      Ref<Eigen::VectorX<T>> residual,
+      int& usedRows) final;
+
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+  void setLimits(const ParameterLimits& lm);
+  void setLimits(const Character& character);
+
+ private:
+  // weights for the error functions
+  static constexpr float kLimitWeight = 1e+1;
+  ParameterLimits limits_;
+};
+
+} // namespace momentum

include/momentum/character_solver/model_parameters_error_function.h

@@ -0,0 +1,64 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character/skeleton_state.h>
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+
+namespace momentum {
+
+template <typename T>
+class ModelParametersErrorFunctionT : public SkeletonErrorFunctionT<T> {
+ public:
+  ModelParametersErrorFunctionT(const Skeleton& skel, const ParameterTransform& pt);
+  explicit ModelParametersErrorFunctionT(const Character& character);
+
+  // Create a ModelParametersError that only targets the specified parameters:
+  ModelParametersErrorFunctionT(const Character& character, const ParameterSet& active);
+
+  [[nodiscard]] double getError(
+      const ModelParametersT<T>& parameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState) final;
+  double getGradient(
+      const ModelParametersT<T>& parameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Ref<Eigen::VectorX<T>> gradient) final;
+  double getJacobian(
+      const ModelParametersT<T>& parameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Ref<Eigen::MatrixX<T>> jacobian,
+      Ref<Eigen::VectorX<T>> residual,
+      int& usedRows) final;
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+  void setTargetParameters(const ModelParametersT<T>& params, const Eigen::VectorX<T>& weights) {
+    this->targetParameters_ = params;
+    this->targetWeights_ = weights;
+  }
+
+  [[nodiscard]] const ModelParametersT<T>& getTargetParameters() const {
+    return this->targetParameters_;
+  }
+
+  [[nodiscard]] const Eigen::VectorX<T>& getTargetWeights() const {
+    return this->targetWeights_;
+  }
+
+ private:
+  ModelParametersT<T> targetParameters_;
+  Eigen::VectorX<T> targetWeights_;
+
+ public:
+  static constexpr T kMotionWeight = 1e-1;
+};
+
+} // namespace momentum

include/momentum/character_solver/normal_error_function.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/constraint_error_function.h>
+
+namespace momentum {
+
+/// Normal constraint data: data needed to compute the point-to-plane distance for
+/// "data-to-template" in ICP.
+template <typename T>
+struct NormalDataT : ConstraintData {
+  /// The template point defined in the local space
+  Vector3<T> localPoint;
+  /// The template normal defined in the local space
+  Vector3<T> localNormal;
+  /// The data point in world space
+  Vector3<T> globalPoint;
+
+  explicit NormalDataT(
+      const Vector3<T>& inLocalPt,
+      const Vector3<T>& inLocalNorm,
+      const Vector3<T>& inTargetPt,
+      size_t pIndex,
+      float w,
+      const std::string& n = {})
+      : ConstraintData(pIndex, w, n),
+        localPoint(inLocalPt),
+        localNormal(inLocalNorm.normalized()),
+        globalPoint(inTargetPt) {}
+};
+
+/// The NormalErrorFunction computes a "point-to-plane" (signed) distance from a target point to the
+/// plane defined by a local point and a local normal vector. The name is not informative but chosen
+/// for backwards compatibility purpose.
+template <typename T>
+class NormalErrorFunctionT : public ConstraintErrorFunctionT<T, NormalDataT<T>, 1, 2, 1> {
+ public:
+  explicit NormalErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : ConstraintErrorFunctionT<T, NormalDataT<T>, 1, 2, 1>(skel, pt, lossAlpha, lossC) {}
+
+  explicit NormalErrorFunctionT(
+      const Character& character,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : NormalErrorFunctionT<T>(
+            character.skeleton,
+            character.parameterTransform,
+            lossAlpha,
+            lossC) {}
+
+  /// Default constant weight in MarkerErrorFunction. This can be used for backwards compatibility
+  /// in setWeight().
+  static constexpr T kLegacyWeight = 1e-4f;
+
+ protected:
+  void evalFunction(
+      size_t constrIndex,
+      const JointStateT<T>& state,
+      Vector<T, 1>& f,
+      optional_ref<std::array<Vector3<T>, 2>> v = {},
+      optional_ref<std::array<Eigen::Matrix<T, 1, 3>, 2>> dfdv = {}) const final;
+};
+} // namespace momentum

include/momentum/character_solver/orientation_error_function.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/constraint_error_function.h>
+
+namespace momentum {
+
+/// Constraint data on 3x3 rotation represented in quaternions
+template <typename T>
+struct OrientationDataT : ConstraintData {
+  /// Rotation offset in the parent space
+  Eigen::Quaternion<T> offset;
+  /// Target rotation in global space
+  Eigen::Quaternion<T> target;
+
+  /// param[in] inOffset: input rotation offset in the parent space
+  /// param[in] inTarget: input target rotation in global space
+  /// param[in] pIndex: joint index of the parent joint
+  /// param[in] w: weight
+  /// param[in] n: name of this constraint
+  explicit OrientationDataT(
+      const Eigen::Quaternion<T>& inOffset,
+      const Eigen::Quaternion<T>& inTarget,
+      size_t pIndex,
+      float w,
+      const std::string& n = "")
+      : ConstraintData(pIndex, w, n),
+        offset(inOffset.normalized()),
+        target(inTarget.normalized()) {}
+};
+
+/// The OrientationErrorFunction minimizes the F-norm of the element-wise difference of a 3x3
+/// rotation matrix to a target rotation. Therefore, function f has 9 numbers (FuncDim), and
+/// NumVec=3 for the 3 rotation axis.
+template <typename T>
+class OrientationErrorFunctionT : public ConstraintErrorFunctionT<T, OrientationDataT<T>, 9, 3, 0> {
+ public:
+  explicit OrientationErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : ConstraintErrorFunctionT<T, OrientationDataT<T>, 9, 3, 0>(skel, pt, lossAlpha, lossC) {}
+
+  explicit OrientationErrorFunctionT(
+      const Character& character,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : OrientationErrorFunctionT(
+            character.skeleton,
+            character.parameterTransform,
+            lossAlpha,
+            lossC) {}
+
+  /// Default constant weight in MarkerErrorFunction. This can be used for backwards compatibility
+  /// in setWeight().
+  static constexpr T kLegacyWeight = 1e-1f;
+
+ protected:
+  void evalFunction(
+      size_t constrIndex,
+      const JointStateT<T>& state,
+      Vector<T, 9>& f,
+      optional_ref<std::array<Vector3<T>, 3>> v = {},
+      optional_ref<std::array<Eigen::Matrix<T, 9, 3>, 3>> dfdv = {}) const final;
+};
+
+} // namespace momentum

include/momentum/character_solver/plane_error_function.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/constraint_error_function.h>
+
+namespace momentum {
+
+/// Point-on-plane or Point-in-half-plane constraint data.
+/// The constraint uses the plane equation: x.dot(normal) - d = 0; use -d instead of +d to be
+/// backwards compatible with previous implementation.
+template <typename T>
+struct PlaneDataT : ConstraintData {
+  Vector3<T> offset;
+  Vector3<T> normal;
+  T d;
+
+  explicit PlaneDataT(
+      const Vector3<T>& inOffset,
+      const Vector3<T>& inNormal,
+      const T inD,
+      size_t pIndex,
+      float w,
+      const std::string& n = "")
+      : ConstraintData(pIndex, w, n), offset(inOffset), normal(inNormal.normalized()), d(inD) {}
+};
+
+/// Create non-penetration half-plane constraints from locators with the input prefix
+template <typename T>
+std::vector<PlaneDataT<T>> createFloorConstraints(
+    const std::string& prefix,
+    const LocatorList& locators,
+    const Vector3<T>& floorNormal,
+    const T& floorOffset,
+    float weight);
+
+/// The PlaneErrorFunction computes the point-on-plane error or point-in-half-plane error.
+/// For point-on-plane error (above = false), it computes the signed distance of a point to a plane
+/// using the plane equation. For half-plane error (above = true), the error is zero when the
+/// distance is greater than zero (ie. the point being above).
+template <typename T>
+class PlaneErrorFunctionT : public ConstraintErrorFunctionT<T, PlaneDataT<T>, 1> {
+ public:
+  /// Constructor
+  ///
+  /// @param[in] skel: character skeleton
+  /// @param[in] pt: character parameter transformation
+  /// @param[in] above: true means "above the plane" (half plane inequality), false means "on the
+  /// plane" (equality).
+  /// @param[in] lossAlpha: alpha parameter for the loss function
+  /// @param[in] lossC: c parameter for the loss function
+  explicit PlaneErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      const bool above = false,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : ConstraintErrorFunctionT<T, PlaneDataT<T>, 1>(skel, pt, lossAlpha, lossC),
+        halfPlane_(above) {}
+
+  /// A convenience api where character contains info of the skeleton and parameter transform.
+  ///
+  /// @param[in] character: character definition
+  /// @param[in] above: true means "above the plane" (half plane inequality), false means "on the
+  /// plane" (equality).
+  /// @param[in] lossAlpha: alpha parameter for the loss function
+  /// @param[in] lossC: c parameter for the loss function
+  explicit PlaneErrorFunctionT(
+      const Character& character,
+      const bool above = false,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : PlaneErrorFunctionT(
+            character.skeleton,
+            character.parameterTransform,
+            above,
+            lossAlpha,
+            lossC) {}
+
+  /// Default constant weight in MarkerErrorFunction. This can be used for backwards compatibility
+  /// in setWeight().
+  static constexpr T kLegacyWeight = 1e-4f;
+
+ protected:
+  void evalFunction(
+      size_t constrIndex,
+      const JointStateT<T>& state,
+      Vector<T, 1>& f,
+      optional_ref<std::array<Vector3<T>, 1>> v = {},
+      optional_ref<std::array<Eigen::Matrix<T, 1, 3>, 1>> /*dfdv*/ = {}) const final;
+
+ private:
+  /// True for an inequality constraint to be *above* the plane rather than *on* the plane
+  bool halfPlane_ = false;
+};
+
+} // namespace momentum

include/momentum/character_solver/point_triangle_vertex_error_function.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/plane_error_function.h>
+#include <momentum/character_solver/position_error_function.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+#include <momentum/character_solver/vertex_error_function.h>
+#include <momentum/math/fwd.h>
+
+namespace momentum {
+
+template <typename T>
+struct PointTriangleVertexConstraintT {
+  int srcVertexIndex = -1;
+  Eigen::Vector3i tgtTriangleIndices;
+  Eigen::Vector3<T> tgtTriangleBaryCoords;
+  T depth = 0;
+  T weight = 1;
+
+  template <typename T2>
+  PointTriangleVertexConstraintT<T2> cast() const {
+    return {
+        this->srcVertexIndex,
+        this->tgtTriangleIndices,
+        this->tgtTriangleBaryCoords.template cast<T2>(),
+        static_cast<T2>(this->depth),
+        static_cast<T2>(this->weight)};
+  }
+};
+
+/// Support constraining different parts of the mesh together by specifying that a source vertex
+/// should target a location on the mesh defined by a target triangle and its normal.  The target
+/// point is specified as sum_i (bary_i * target_triangle_vertex_i) + depth *
+/// target_triangle_normal. Note that this constraint applies "forces" both to the source vertex and
+/// every vertex in the target triangle, so it will actually try to pull both toward each other.
+template <typename T>
+class PointTriangleVertexErrorFunctionT : public SkeletonErrorFunctionT<T> {
+ public:
+  explicit PointTriangleVertexErrorFunctionT(
+      const Character& character,
+      VertexConstraintType type = VertexConstraintType::Position);
+  virtual ~PointTriangleVertexErrorFunctionT() override;
+
+  [[nodiscard]] double getError(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState) final;
+
+  double getGradient(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) final;
+
+  double getJacobian(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::MatrixX<T>> jacobian,
+      Eigen::Ref<Eigen::VectorX<T>> residual,
+      int& usedRows) final;
+
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+  void addConstraint(
+      int vertexIndex,
+      const Eigen::Vector3i& triangleIndices,
+      const Eigen::Vector3<T>& triangleBaryCoords,
+      float depth = 0,
+      T weight = 1);
+  void clearConstraints();
+
+  [[nodiscard]] const std::vector<PointTriangleVertexConstraintT<T>>& getConstraints() const {
+    return constraints_;
+  }
+
+  static constexpr T kPositionWeight = PositionErrorFunctionT<T>::kLegacyWeight;
+  static constexpr T kPlaneWeight = PlaneErrorFunctionT<T>::kLegacyWeight;
+
+  size_t getNumVertices() const;
+  [[nodiscard]] const Character* getCharacter() const override {
+    return &character_;
+  }
+
+  /// Override to indicate this function requires mesh state
+  [[nodiscard]] bool needsMesh() const override {
+    return true;
+  }
+
+ private:
+  double calculatePositionJacobian(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      Ref<Eigen::MatrixX<T>> jac,
+      Ref<Eigen::VectorX<T>> res) const;
+
+  double calculateNormalJacobian(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      T sourceNormalWeight,
+      T targetNormalWeight,
+      Ref<Eigen::MatrixX<T>> jac,
+      T& res) const;
+
+  double calculatePositionGradient(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) const;
+
+  double calculateNormalGradient(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      T sourceNormalWeight,
+      T targetNormalWeight,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) const;
+
+  std::pair<T, T> computeNormalWeights() const;
+
+  const Character& character_;
+
+  std::vector<PointTriangleVertexConstraintT<T>> constraints_;
+
+  const VertexConstraintType constraintType_;
+};
+
+} // namespace momentum

include/momentum/character_solver/pose_prior_error_function.h

@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+#include <momentum/math/mppca.h>
+
+#include <gsl/span>
+
+namespace momentum {
+
+template <typename T>
+class PosePriorErrorFunctionT : public SkeletonErrorFunctionT<T> {
+ public:
+  PosePriorErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      std::shared_ptr<const MppcaT<T>> pp);
+  PosePriorErrorFunctionT(const Character& character, std::shared_ptr<const MppcaT<T>> pp);
+
+  void setPosePrior(std::shared_ptr<const MppcaT<T>> pp);
+
+  [[nodiscard]] double getError(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState) final;
+
+  double getGradient(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) final;
+
+  [[nodiscard]] double logProbability(const ModelParametersT<T>& params) const;
+
+  double getJacobian(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::MatrixX<T>> jacobian,
+      Eigen::Ref<Eigen::VectorX<T>> residual,
+      int& usedRows) final;
+
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+  [[nodiscard]] Eigen::VectorX<T> getMeanShape(const ModelParametersT<T>& params) const;
+
+ protected:
+  void loadInternal();
+  void getBestFitMode(
+      const ModelParametersT<T>& params,
+      size_t& bestIdx,
+      Eigen::VectorX<T>& bestDiff,
+      T& bestR,
+      T& minDist) const;
+
+  std::vector<size_t> ppMap_;
+  std::vector<size_t> invMap_;
+
+  // The pose prior: note that once passed in you must not modify it
+  // outside this class.  The easiest way to guarantee this is to use
+  // the standard loadMppca() functions which already returns a const-
+  // valued shared_ptr.
+  std::shared_ptr<const MppcaT<T>> posePrior_;
+
+  // weights for the error functions
+  static constexpr T kPosePriorWeight = 1e-3;
+
+ private:
+  // Is used for optimization purpose in getJacobian to allocate memory once
+  Eigen::MatrixX<T> gradientL_;
+};
+
+} // namespace momentum