| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/numdiff/activation.hxx |
| Date: | 2025-01-30 11:01:55 |
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| Lines: | 32 | 34 | 94.1% |
| Branches: | 19 | 68 | 27.9% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // New York University, Max Planck Gesellschaft | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | |||
| 14 | template <typename Scalar> | ||
| 15 | 10 | ActivationModelNumDiffTpl<Scalar>::ActivationModelNumDiffTpl( | |
| 16 | std::shared_ptr<Base> model) | ||
| 17 | : Base(model->get_nr()), | ||
| 18 | 10 | model_(model), | |
| 19 | 10 | e_jac_(std::sqrt(2.0 * std::numeric_limits<Scalar>::epsilon())) {} | |
| 20 | |||
| 21 | template <typename Scalar> | ||
| 22 | 24 | ActivationModelNumDiffTpl<Scalar>::~ActivationModelNumDiffTpl() {} | |
| 23 | |||
| 24 | template <typename Scalar> | ||
| 25 | 9 | void ActivationModelNumDiffTpl<Scalar>::calc( | |
| 26 | const std::shared_ptr<ActivationDataAbstract>& data, | ||
| 27 | const Eigen::Ref<const VectorXs>& r) { | ||
| 28 |
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9 | if (static_cast<std::size_t>(r.size()) != model_->get_nr()) { |
| 29 | ✗ | throw_pretty( | |
| 30 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 31 | std::to_string(model_->get_nr()) + ")"); | ||
| 32 | } | ||
| 33 | 9 | std::shared_ptr<Data> data_nd = std::static_pointer_cast<Data>(data); | |
| 34 |
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9 | model_->calc(data_nd->data_0, r); |
| 35 | 9 | data->a_value = data_nd->data_0->a_value; | |
| 36 | 9 | } | |
| 37 | |||
| 38 | template <typename Scalar> | ||
| 39 | 9 | void ActivationModelNumDiffTpl<Scalar>::calcDiff( | |
| 40 | const std::shared_ptr<ActivationDataAbstract>& data, | ||
| 41 | const Eigen::Ref<const VectorXs>& r) { | ||
| 42 |
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9 | if (static_cast<std::size_t>(r.size()) != model_->get_nr()) { |
| 43 | ✗ | throw_pretty( | |
| 44 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 45 | std::to_string(model_->get_nr()) + ")"); | ||
| 46 | } | ||
| 47 | 9 | std::shared_ptr<Data> data_nd = std::static_pointer_cast<Data>(data); | |
| 48 | |||
| 49 | 9 | const Scalar a_value0 = data_nd->data_0->a_value; | |
| 50 | 9 | data->a_value = data_nd->data_0->a_value; | |
| 51 | 9 | const std::size_t nr = model_->get_nr(); | |
| 52 | |||
| 53 | // Computing the d activation(r) / dr | ||
| 54 |
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9 | const Scalar rh_jac = e_jac_ * std::max(1., r.norm()); |
| 55 |
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9 | data_nd->rp = r; |
| 56 |
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54 | for (unsigned int i_r = 0; i_r < nr; ++i_r) { |
| 57 |
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45 | data_nd->rp(i_r) += rh_jac; |
| 58 |
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45 | model_->calc(data_nd->data_rp[i_r], data_nd->rp); |
| 59 |
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45 | data_nd->rp(i_r) -= rh_jac; |
| 60 |
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45 | data->Ar(i_r) = (data_nd->data_rp[i_r]->a_value - a_value0) / rh_jac; |
| 61 | } | ||
| 62 | |||
| 63 | // Computing the d^2 action(r) / dr^2 | ||
| 64 |
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9 | data_nd->Arr_.noalias() = data->Ar * data->Ar.transpose(); |
| 65 |
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9 | data->Arr.diagonal() = data_nd->Arr_.diagonal(); |
| 66 | 9 | } | |
| 67 | |||
| 68 | template <typename Scalar> | ||
| 69 | std::shared_ptr<ActivationDataAbstractTpl<Scalar> > | ||
| 70 | 11 | ActivationModelNumDiffTpl<Scalar>::createData() { | |
| 71 |
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11 | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
| 72 | } | ||
| 73 | |||
| 74 | template <typename Scalar> | ||
| 75 | const std::shared_ptr<ActivationModelAbstractTpl<Scalar> >& | ||
| 76 | 137 | ActivationModelNumDiffTpl<Scalar>::get_model() const { | |
| 77 | 137 | return model_; | |
| 78 | } | ||
| 79 | |||
| 80 | template <typename Scalar> | ||
| 81 | 9 | const Scalar ActivationModelNumDiffTpl<Scalar>::get_disturbance() const { | |
| 82 | 9 | return e_jac_; | |
| 83 | } | ||
| 84 | |||
| 85 | template <typename Scalar> | ||
| 86 | void ActivationModelNumDiffTpl<Scalar>::set_disturbance( | ||
| 87 | const Scalar disturbance) { | ||
| 88 | if (disturbance < 0.) { | ||
| 89 | throw_pretty("Invalid argument: " << "Disturbance constant is positive"); | ||
| 90 | } | ||
| 91 | e_jac_ = disturbance; | ||
| 92 | } | ||
| 93 | |||
| 94 | } // namespace crocoddyl | ||
| 95 |