GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/activation-base.hpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 14 20 70.0%
Branches: 4 14 28.6%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
5 // Heriot-Watt University
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #ifndef CROCODDYL_CORE_ACTIVATION_BASE_HPP_
11 #define CROCODDYL_CORE_ACTIVATION_BASE_HPP_
12
13 #include <boost/core/demangle.hpp>
14 #include <boost/make_shared.hpp>
15 #include <boost/shared_ptr.hpp>
16 #include <stdexcept>
17
18 #include "crocoddyl/core/fwd.hpp"
19 #include "crocoddyl/core/mathbase.hpp"
20
21 namespace crocoddyl {
22
23 template <typename _Scalar>
24 class ActivationModelAbstractTpl {
25 public:
26 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27
28 typedef _Scalar Scalar;
29 typedef MathBaseTpl<Scalar> MathBase;
30 typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
31 typedef typename MathBase::VectorXs VectorXs;
32 typedef typename MathBase::MatrixXs MatrixXs;
33
34 7802 explicit ActivationModelAbstractTpl(const std::size_t nr) : nr_(nr) {};
35 15644 virtual ~ActivationModelAbstractTpl() {};
36
37 virtual void calc(const boost::shared_ptr<ActivationDataAbstract>& data,
38 const Eigen::Ref<const VectorXs>& r) = 0;
39 virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract>& data,
40 const Eigen::Ref<const VectorXs>& r) = 0;
41 ✗ virtual boost::shared_ptr<ActivationDataAbstract> createData() {
42 return boost::allocate_shared<ActivationDataAbstract>(
43 ✗ Eigen::aligned_allocator<ActivationDataAbstract>(), this);
44 };
45
46 1208462 std::size_t get_nr() const { return nr_; };
47
48 /**
49 * @brief Print information on the activation model
50 */
51 335 friend std::ostream& operator<<(
52 std::ostream& os, const ActivationModelAbstractTpl<Scalar>& model) {
53 335 model.print(os);
54 335 return os;
55 }
56
57 /**
58 * @brief Print relevant information of the activation model
59 *
60 * @param[out] os Output stream object
61 */
62 ✗ virtual void print(std::ostream& os) const {
63 ✗ os << boost::core::demangle(typeid(*this).name());
64 }
65
66 protected:
67 std::size_t nr_;
68 };
69
70 template <typename _Scalar>
71 struct ActivationDataAbstractTpl {
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73
74 typedef _Scalar Scalar;
75 typedef MathBaseTpl<Scalar> MathBase;
76 typedef typename MathBase::VectorXs VectorXs;
77 typedef typename MathBase::MatrixXs MatrixXs;
78 typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs;
79
80 template <template <typename Scalar> class Activation>
81 955628 explicit ActivationDataAbstractTpl(Activation<Scalar>* const activation)
82 955628 : a_value(Scalar(0.)),
83
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 955628 Ar(VectorXs::Zero(activation->get_nr())),
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 1911256 Arr(DiagonalMatrixXs(activation->get_nr())) {
85
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 955628 Arr.setZero();
86 }
87 480654 virtual ~ActivationDataAbstractTpl() {}
88
89 Scalar a_value;
90 VectorXs Ar;
91 DiagonalMatrixXs Arr;
92
93 13 static MatrixXs getHessianMatrix(
94 const ActivationDataAbstractTpl<Scalar>& data) {
95
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 26 return data.Arr.diagonal().asDiagonal();
96 }
97 ✗ static void setHessianMatrix(ActivationDataAbstractTpl<Scalar>& data,
98 const MatrixXs& Arr) {
99 ✗ data.Arr.diagonal() = Arr.diagonal();
100 }
101 };
102
103 } // namespace crocoddyl
104
105 #endif // CROCODDYL_CORE_ACTIVATION_BASE_HPP_
106