| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 "crocoddyl/core/fwd.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | |||
| 17 | class ActivationModelBase { | ||
| 18 | public: | ||
| 19 | ✗ | virtual ~ActivationModelBase() = default; | |
| 20 | |||
| 21 | ✗ | CROCODDYL_BASE_CAST(ActivationModelBase, ActivationModelAbstractTpl) | |
| 22 | }; | ||
| 23 | |||
| 24 | template <typename _Scalar> | ||
| 25 | class ActivationModelAbstractTpl : public ActivationModelBase { | ||
| 26 | public: | ||
| 27 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 28 | |||
| 29 | typedef _Scalar Scalar; | ||
| 30 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 31 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 32 | typedef typename MathBase::VectorXs VectorXs; | ||
| 33 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 34 | |||
| 35 | ✗ | explicit ActivationModelAbstractTpl(const std::size_t nr) : nr_(nr) {}; | |
| 36 | ✗ | virtual ~ActivationModelAbstractTpl() = default; | |
| 37 | |||
| 38 | virtual void calc(const std::shared_ptr<ActivationDataAbstract>& data, | ||
| 39 | const Eigen::Ref<const VectorXs>& r) = 0; | ||
| 40 | virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract>& data, | ||
| 41 | const Eigen::Ref<const VectorXs>& r) = 0; | ||
| 42 | ✗ | virtual std::shared_ptr<ActivationDataAbstract> createData() { | |
| 43 | return std::allocate_shared<ActivationDataAbstract>( | ||
| 44 | ✗ | Eigen::aligned_allocator<ActivationDataAbstract>(), this); | |
| 45 | }; | ||
| 46 | |||
| 47 | ✗ | std::size_t get_nr() const { return nr_; }; | |
| 48 | |||
| 49 | /** | ||
| 50 | * @brief Print information on the activation model | ||
| 51 | */ | ||
| 52 | ✗ | friend std::ostream& operator<<( | |
| 53 | std::ostream& os, const ActivationModelAbstractTpl<Scalar>& model) { | ||
| 54 | ✗ | model.print(os); | |
| 55 | ✗ | return os; | |
| 56 | } | ||
| 57 | |||
| 58 | /** | ||
| 59 | * @brief Print relevant information of the activation model | ||
| 60 | * | ||
| 61 | * @param[out] os Output stream object | ||
| 62 | */ | ||
| 63 | ✗ | virtual void print(std::ostream& os) const { | |
| 64 | ✗ | os << boost::core::demangle(typeid(*this).name()); | |
| 65 | ✗ | } | |
| 66 | |||
| 67 | protected: | ||
| 68 | std::size_t nr_; | ||
| 69 | ✗ | ActivationModelAbstractTpl() : nr_(0) {}; | |
| 70 | }; | ||
| 71 | |||
| 72 | template <typename _Scalar> | ||
| 73 | struct ActivationDataAbstractTpl { | ||
| 74 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 75 | |||
| 76 | typedef _Scalar Scalar; | ||
| 77 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 78 | typedef typename MathBase::VectorXs VectorXs; | ||
| 79 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 80 | typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs; | ||
| 81 | |||
| 82 | template <template <typename Scalar> class Activation> | ||
| 83 | ✗ | explicit ActivationDataAbstractTpl(Activation<Scalar>* const activation) | |
| 84 | ✗ | : a_value(Scalar(0.)), | |
| 85 | ✗ | Ar(VectorXs::Zero(activation->get_nr())), | |
| 86 | ✗ | Arr(DiagonalMatrixXs(activation->get_nr())) { | |
| 87 | ✗ | Arr.setZero(); | |
| 88 | ✗ | } | |
| 89 | ✗ | virtual ~ActivationDataAbstractTpl() = default; | |
| 90 | |||
| 91 | Scalar a_value; | ||
| 92 | VectorXs Ar; | ||
| 93 | DiagonalMatrixXs Arr; | ||
| 94 | |||
| 95 | ✗ | static MatrixXs getHessianMatrix( | |
| 96 | const ActivationDataAbstractTpl<Scalar>& data) { | ||
| 97 | ✗ | return data.Arr.diagonal().asDiagonal(); | |
| 98 | } | ||
| 99 | ✗ | static void setHessianMatrix(ActivationDataAbstractTpl<Scalar>& data, | |
| 100 | const MatrixXs& Arr) { | ||
| 101 | ✗ | data.Arr.diagonal() = Arr.diagonal(); | |
| 102 | ✗ | } | |
| 103 | }; | ||
| 104 | |||
| 105 | } // namespace crocoddyl | ||
| 106 | |||
| 107 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActivationModelAbstractTpl) | ||
| 108 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActivationDataAbstractTpl) | ||
| 109 | |||
| 110 | #endif // CROCODDYL_CORE_ACTIVATION_BASE_HPP_ | ||
| 111 |