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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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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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#ifndef CROCODDYL_CORE_ACTIVATION_BASE_HPP_ |
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#define CROCODDYL_CORE_ACTIVATION_BASE_HPP_ |
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#include <boost/core/demangle.hpp> |
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#include <boost/make_shared.hpp> |
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#include <boost/shared_ptr.hpp> |
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#include <stdexcept> |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/mathbase.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class ActivationModelAbstractTpl { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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explicit ActivationModelAbstractTpl(const std::size_t nr) : nr_(nr){}; |
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virtual ~ActivationModelAbstractTpl(){}; |
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virtual void calc(const boost::shared_ptr<ActivationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& r) = 0; |
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virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& r) = 0; |
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virtual boost::shared_ptr<ActivationDataAbstract> createData() { |
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return boost::allocate_shared<ActivationDataAbstract>( |
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Eigen::aligned_allocator<ActivationDataAbstract>(), this); |
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}; |
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std::size_t get_nr() const { return nr_; }; |
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/** |
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* @brief Print information on the activation model |
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*/ |
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friend std::ostream& operator<<( |
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std::ostream& os, const ActivationModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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/** |
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* @brief Print relevant information of the activation model |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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protected: |
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std::size_t nr_; |
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}; |
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template <typename _Scalar> |
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struct ActivationDataAbstractTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs; |
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template <template <typename Scalar> class Activation> |
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explicit ActivationDataAbstractTpl(Activation<Scalar>* const activation) |
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: a_value(Scalar(0.)), |
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Ar(VectorXs::Zero(activation->get_nr())), |
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✓✗✓✗
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Arr(DiagonalMatrixXs(activation->get_nr())) { |
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✓✗ |
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Arr.setZero(); |
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} |
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virtual ~ActivationDataAbstractTpl() {} |
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Scalar a_value; |
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VectorXs Ar; |
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DiagonalMatrixXs Arr; |
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static MatrixXs getHessianMatrix( |
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const ActivationDataAbstractTpl<Scalar>& data) { |
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✓✗ |
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return data.Arr.diagonal().asDiagonal(); |
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} |
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static void setHessianMatrix(ActivationDataAbstractTpl<Scalar>& data, |
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const MatrixXs& Arr) { |
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data.Arr.diagonal() = Arr.diagonal(); |
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} |
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}; |
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} // namespace crocoddyl |
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#endif // CROCODDYL_CORE_ACTIVATION_BASE_HPP_ |