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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// New York University, Max Planck Gesellschaft |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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namespace crocoddyl { |
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template <typename Scalar> |
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ActivationModelNumDiffTpl<Scalar>::ActivationModelNumDiffTpl( |
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std::shared_ptr<Base> model) |
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: Base(model->get_nr()), |
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model_(model), |
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e_jac_(sqrt(Scalar(2.0) * std::numeric_limits<Scalar>::epsilon())) {} |
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template <typename Scalar> |
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ActivationModelNumDiffTpl<Scalar>::~ActivationModelNumDiffTpl() {} |
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template <typename Scalar> |
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void ActivationModelNumDiffTpl<Scalar>::calc( |
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const std::shared_ptr<ActivationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& r) { |
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if (static_cast<std::size_t>(r.size()) != model_->get_nr()) { |
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throw_pretty( |
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"Invalid argument: " << "r has wrong dimension (it should be " + |
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std::to_string(model_->get_nr()) + ")"); |
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} |
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std::shared_ptr<Data> data_nd = std::static_pointer_cast<Data>(data); |
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model_->calc(data_nd->data_0, r); |
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data->a_value = data_nd->data_0->a_value; |
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} |
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template <typename Scalar> |
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void ActivationModelNumDiffTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ActivationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& r) { |
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if (static_cast<std::size_t>(r.size()) != model_->get_nr()) { |
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throw_pretty( |
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"Invalid argument: " << "r has wrong dimension (it should be " + |
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std::to_string(model_->get_nr()) + ")"); |
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} |
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std::shared_ptr<Data> data_nd = std::static_pointer_cast<Data>(data); |
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const Scalar a_value0 = data_nd->data_0->a_value; |
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data->a_value = data_nd->data_0->a_value; |
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const std::size_t nr = model_->get_nr(); |
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// Computing the d activation(r) / dr |
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const Scalar rh_jac = e_jac_ * std::max(Scalar(1.), r.norm()); |
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data_nd->rp = r; |
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for (unsigned int i_r = 0; i_r < nr; ++i_r) { |
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data_nd->rp(i_r) += rh_jac; |
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model_->calc(data_nd->data_rp[i_r], data_nd->rp); |
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data_nd->rp(i_r) -= rh_jac; |
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data->Ar(i_r) = (data_nd->data_rp[i_r]->a_value - a_value0) / rh_jac; |
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} |
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// Computing the d^2 action(r) / dr^2 |
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data_nd->Arr_.noalias() = data->Ar * data->Ar.transpose(); |
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data->Arr.diagonal() = data_nd->Arr_.diagonal(); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ActivationDataAbstractTpl<Scalar> > |
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ActivationModelNumDiffTpl<Scalar>::createData() { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ActivationModelNumDiffTpl<NewScalar> ActivationModelNumDiffTpl<Scalar>::cast() |
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const { |
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typedef ActivationModelNumDiffTpl<NewScalar> ReturnType; |
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ReturnType res(model_->template cast<NewScalar>()); |
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return res; |
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} |
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template <typename Scalar> |
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const std::shared_ptr<ActivationModelAbstractTpl<Scalar> >& |
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ActivationModelNumDiffTpl<Scalar>::get_model() const { |
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return model_; |
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} |
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template <typename Scalar> |
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const Scalar ActivationModelNumDiffTpl<Scalar>::get_disturbance() const { |
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return e_jac_; |
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} |
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template <typename Scalar> |
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void ActivationModelNumDiffTpl<Scalar>::set_disturbance( |
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const Scalar disturbance) { |
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if (disturbance < Scalar(0.)) { |
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throw_pretty("Invalid argument: " << "Disturbance constant is positive"); |
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} |
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e_jac_ = disturbance; |
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} |
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} // namespace crocoddyl |
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