def add()

in theseus/core/objective.py [0:0]

• 43 lines of code
• 9 McCabe index (conditional complexity)

    def add(self, cost_function: CostFunction):
        # adds the cost function if not already present
        if cost_function.name in self.cost_functions:
            if cost_function is not self.cost_functions[cost_function.name]:
                raise ValueError(
                    f"Two different cost function objects with the "
                    f"same name ({cost_function.name}) are not allowed "
                    "in the same objective."
                )
            else:
                warnings.warn(
                    "This cost function has already been added to the objective, "
                    "nothing to be done."
                )
        else:
            self.cost_functions[cost_function.name] = cost_function

        self.current_version += 1
        # ----- Book-keeping for the cost function ------- #
        # adds information about the optimization variables in this cost function
        self._add_function_variables(cost_function, optim_vars=True)

        # adds information about the auxiliary variables in this cost function
        self._add_function_variables(cost_function, optim_vars=False)

        if cost_function.weight not in self.cost_functions_for_weights:
            # ----- Book-keeping for the cost weight ------- #
            # adds information about the variables in this cost function's weight
            self._add_function_variables(
                cost_function.weight, optim_vars=True, is_cost_weight=True
            )
            # adds information about the auxiliary variables in this cost function's weight
            self._add_function_variables(
                cost_function.weight, optim_vars=False, is_cost_weight=True
            )

            self.cost_functions_for_weights[cost_function.weight] = []

            if cost_function.weight.num_optim_vars() > 0:
                warnings.warn(
                    f"The cost weight associated to {cost_function.name} receives one "
                    "or more optimization variables. Differentiating cost "
                    "weights with respect to optimization variables is not currently "
                    "supported, thus jacobians computed by our optimizers will be "
                    "incorrect. You may want to consider moving the weight computation "
                    "inside the cost function, so that the cost weight only receives "
                    "auxiliary variables.",
                    RuntimeWarning,
                )

        self.cost_functions_for_weights[cost_function.weight].append(cost_function)

        if self.optim_vars.keys() & self.aux_vars.keys():
            raise ValueError(
                "Objective does not support a variable being both "
                "an optimization variable and an auxiliary variable."
            )