GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/numdiff/activation.hpp
Date: 2025-05-13 10:30:51
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Branches: 0 48 0.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2025, LAAS-CNRS, New York University,
5 // Max Planck Gesellschaft, University of Edinburgh
6 // Copyright note valid unless otherwise stated in individual files.
7 // All rights reserved.
8 ///////////////////////////////////////////////////////////////////////////////
9
10 #ifndef CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
11 #define CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
12
13 #include "crocoddyl/core/activation-base.hpp"
14 #include "crocoddyl/core/fwd.hpp"
15
16 namespace crocoddyl {
17
18 template <typename _Scalar>
19 class ActivationModelNumDiffTpl : public ActivationModelAbstractTpl<_Scalar> {
20 public:
21 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 ✗ CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelNumDiffTpl)
23
24 typedef _Scalar Scalar;
25 typedef MathBaseTpl<Scalar> MathBase;
26 typedef ActivationModelAbstractTpl<Scalar> Base;
27 typedef ActivationDataNumDiffTpl<Scalar> Data;
28 typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
31
32 /**
33 * @brief Construct a new ActivationModelNumDiff object
34 *
35 * @param model
36 */
37 explicit ActivationModelNumDiffTpl(std::shared_ptr<Base> model);
38
39 /**
40 * @brief Destroy the ActivationModelNumDiff object
41 */
42 virtual ~ActivationModelNumDiffTpl();
43
44 /**
45 * @brief @copydoc Base::calc()
46 */
47 virtual void calc(const std::shared_ptr<ActivationDataAbstract>& data,
48 const Eigen::Ref<const VectorXs>& r) override;
49
50 /**
51 * @brief @copydoc Base::calcDiff()
52 */
53 virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract>& data,
54 const Eigen::Ref<const VectorXs>& r) override;
55
56 /**
57 * @brief Create a Data object from the given model.
58 *
59 * @return std::shared_ptr<ActivationDataAbstract>
60 */
61 virtual std::shared_ptr<ActivationDataAbstract> createData() override;
62
63 template <typename NewScalar>
64 ActivationModelNumDiffTpl<NewScalar> cast() const;
65
66 /**
67 * @brief Get the model_ object
68 *
69 * @return Base&
70 */
71 const std::shared_ptr<Base>& get_model() const;
72
73 /**
74 * @brief Return the disturbance constant used in the numerical
75 * differentiation routine
76 */
77 const Scalar get_disturbance() const;
78
79 /**
80 * @brief Modify the disturbance constant used in the numerical
81 * differentiation routine
82 */
83 void set_disturbance(const Scalar disturbance);
84
85 private:
86 std::shared_ptr<Base>
87 model_; //!< model to compute the finite differentiation from
88 Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian
89 //!< calculation
90
91 protected:
92 using Base::nr_;
93 };
94
95 template <typename _Scalar>
96 struct ActivationDataNumDiffTpl : public ActivationDataAbstractTpl<_Scalar> {
97 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
98
99 typedef _Scalar Scalar;
100 typedef MathBaseTpl<Scalar> MathBase;
101 typedef typename MathBase::VectorXs VectorXs;
102 typedef ActivationDataAbstractTpl<Scalar> Base;
103 typedef typename MathBase::MatrixXs MatrixXs;
104
105 /**
106 * @brief Construct a new ActivationDataNumDiff object
107 *
108 * @tparam Model is the type of the ActivationModel.
109 * @param model is the object to compute the numerical differentiation from.
110 */
111 template <template <typename Scalar> class Model>
112 ✗ explicit ActivationDataNumDiffTpl(Model<Scalar>* const model)
113 : Base(model),
114 ✗ dr(model->get_model()->get_nr()),
115 ✗ rp(model->get_model()->get_nr()),
116 ✗ Arr_(Arr.rows(), Arr.cols()) {
117 ✗ dr.setZero();
118 ✗ rp.setZero();
119 ✗ Arr_.setZero();
120 ✗ data_0 = model->get_model()->createData();
121 ✗ const std::size_t nr = model->get_model()->get_nr();
122 ✗ data_rp.clear();
123 ✗ for (std::size_t i = 0; i < nr; ++i) {
124 ✗ data_rp.push_back(model->get_model()->createData());
125 }
126
127 ✗ data_r2p.clear();
128 ✗ for (std::size_t i = 0; i < 4; ++i) {
129 ✗ data_r2p.push_back(model->get_model()->createData());
130 }
131 }
132
133 VectorXs dr; //!< disturbance: \f$ [\hdot \;\; disturbance \;\; \hdot] \f$
134 VectorXs rp; //!< The input + the disturbance on one DoF "\f$ r^+ = rp = \int
135 //!< r + dr \f$"
136 std::shared_ptr<Base> data_0; //!< The data that contains the final results
137 std::vector<std::shared_ptr<Base> >
138 data_rp; //!< The temporary data associated with the input variation
139 std::vector<std::shared_ptr<Base> >
140 data_r2p; //!< The temporary data associated with the input variation
141
142 MatrixXs Arr_;
143 using Base::a_value;
144 using Base::Ar;
145 using Base::Arr;
146 };
147
148 } // namespace crocoddyl
149
150 /* --- Details -------------------------------------------------------------- */
151 /* --- Details -------------------------------------------------------------- */
152 /* --- Details -------------------------------------------------------------- */
153 #include "crocoddyl/core/numdiff/activation.hxx"
154
155 CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActivationModelNumDiffTpl)
156 CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActivationDataNumDiffTpl)
157
158 #endif // CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
159