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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/crocoddyl/core/actuation/squashing/smooth-sat.hpp	Lines:	27	39	69.2 %
Date:	2024-02-13 11:12:33	Branches:	52	126	41.3 %


///////////////////////////////////////////////////////////////////////////////
// BSD 3-Clause License
//
// Copyright (C) 2019-2020, University of Edinburgh, IRI: CSIC-UPC
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
///////////////////////////////////////////////////////////////////////////////

#ifndef CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_
#define CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_

#include <math.h>

#include <stdexcept>

#include "crocoddyl/core/actuation/squashing-base.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/utils/exception.hpp"

namespace crocoddyl {

template <typename _Scalar>
class SquashingModelSmoothSatTpl : public SquashingModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef SquashingModelAbstractTpl<Scalar> Base;
  typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;

  SquashingModelSmoothSatTpl(const Eigen::Ref<const VectorXs>& u_lb,
                             const Eigen::Ref<const VectorXs>& u_ub,
                             const std::size_t ns)
      : Base(ns) {
    u_lb_ = u_lb;
    u_ub_ = u_ub;

    s_lb_ = u_lb_;
    s_ub_ = u_ub_;

    smooth_ = Scalar(0.1);

    d_ = (u_ub_ - u_lb_) * smooth_;
    a_ = d_.array() * d_.array();
  }

  virtual ~SquashingModelSmoothSatTpl(){};

  virtual void calc(const boost::shared_ptr<SquashingDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& s) {
    // Squashing function used: "Smooth abs":
    // s(u) = 0.5*(lb + ub + sqrt(smooth + (u - lb)^2) - sqrt(smooth + (u -
    // ub)^2))
    data->u = Scalar(0.5) *
              (Eigen::sqrt(Eigen::pow((s - u_lb_).array(), 2) + a_.array()) -
               Eigen::sqrt(Eigen::pow((s - u_ub_).array(), 2) + a_.array()) +
               u_lb_.array() + u_ub_.array());
  }

  virtual void calcDiff(const boost::shared_ptr<SquashingDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& s) {
    data->du_ds.diagonal() =
        Scalar(0.5) *
        (Eigen::pow(a_.array() + Eigen::pow((s - u_lb_).array(), 2),
                    Scalar(-0.5))
                 .array() *
             (s - u_lb_).array() -
         Eigen::pow(a_.array() + Eigen::pow((s - u_ub_).array(), 2),
                    Scalar(-0.5))
                 .array() *
             (s - u_ub_).array());
  }

  const Scalar get_smooth() const { return smooth_; };
  void set_smooth(const Scalar smooth) {
    if (smooth < 0.) {
      throw_pretty("Invalid argument: "
                   << "Smooth value has to be positive");
    }
    smooth_ = smooth;

    d_ = (u_ub_ - u_lb_) * smooth_;
    a_ = d_.array() * d_.array();

    s_lb_ = u_lb_;
    s_ub_ = u_ub_;
  }

  const VectorXs& get_d() const { return d_; };

 private:
  VectorXs a_;
  VectorXs d_;

  Scalar smooth_;

 protected:
  using Base::s_lb_;
  using Base::s_ub_;

  using Base::u_lb_;
  using Base::u_ub_;
};

}  // namespace crocoddyl

#endif  // CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2020, University of Edinburgh, IRI: CSIC-UPC
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#ifndef CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_
10			#define CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_
11
12			#include <math.h>
13
14			#include <stdexcept>
15
16			#include "crocoddyl/core/actuation/squashing-base.hpp"
17			#include "crocoddyl/core/fwd.hpp"
18			#include "crocoddyl/core/utils/exception.hpp"
19
20			namespace crocoddyl {
21
22			template <typename _Scalar>
23			class SquashingModelSmoothSatTpl : public SquashingModelAbstractTpl<_Scalar> {
24			public:
25			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26
27			typedef _Scalar Scalar;
28			typedef MathBaseTpl<Scalar> MathBase;
29			typedef SquashingModelAbstractTpl<Scalar> Base;
30			typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract;
31			typedef typename MathBase::VectorXs VectorXs;
32
33		282	SquashingModelSmoothSatTpl(const Eigen::Ref<const VectorXs>& u_lb,
34			const Eigen::Ref<const VectorXs>& u_ub,
35			const std::size_t ns)
36	✓✗✓✗	282	: Base(ns) {
37	✓✗	282	u_lb_ = u_lb;
38	✓✗	282	u_ub_ = u_ub;
39
40	✓✗	282	s_lb_ = u_lb_;
41	✓✗	282	s_ub_ = u_ub_;
42
43		282	smooth_ = Scalar(0.1);
44
45	✓✗✓✗ ✓✗	282	d_ = (u_ub_ - u_lb_) * smooth_;
46	✓✗✓✗ ✓✗✓✗	282	a_ = d_.array() * d_.array();
47		282	}
48
49		568	virtual ~SquashingModelSmoothSatTpl(){};
50
51		14099	virtual void calc(const boost::shared_ptr<SquashingDataAbstract>& data,
52			const Eigen::Ref<const VectorXs>& s) {
53			// Squashing function used: "Smooth abs":
54			// s(u) = 0.5*(lb + ub + sqrt(smooth + (u - lb)^2) - sqrt(smooth + (u -
55			// ub)^2))
56	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	28198	data->u = Scalar(0.5) *
57	✓✗✓✗	14099	(Eigen::sqrt(Eigen::pow((s - u_lb_).array(), 2) + a_.array()) -
58	✓✗✓✗	14099	Eigen::sqrt(Eigen::pow((s - u_ub_).array(), 2) + a_.array()) +
59	✓✗	14099	u_lb_.array() + u_ub_.array());
60		14099	}
61
62		4692	virtual void calcDiff(const boost::shared_ptr<SquashingDataAbstract>& data,
63			const Eigen::Ref<const VectorXs>& s) {
64	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	23460	data->du_ds.diagonal() =
65	✓✗	4692	Scalar(0.5) *
66	✓✗	4692	(Eigen::pow(a_.array() + Eigen::pow((s - u_lb_).array(), 2),
67			Scalar(-0.5))
68	✓✗✓✗ ✓✗✓✗ ✓✗	9384	.array() *
69	✓✗	4692	(s - u_lb_).array() -
70	✓✗	4692	Eigen::pow(a_.array() + Eigen::pow((s - u_ub_).array(), 2),
71			Scalar(-0.5))
72	✓✗✓✗ ✓✗✓✗ ✓✗	9384	.array() *
73		4692	(s - u_ub_).array());
74		4692	}
75
76			const Scalar get_smooth() const { return smooth_; };
77			void set_smooth(const Scalar smooth) {
78			if (smooth < 0.) {
79			throw_pretty("Invalid argument: "
80			<< "Smooth value has to be positive");
81			}
82			smooth_ = smooth;
83
84			d_ = (u_ub_ - u_lb_) * smooth_;
85			a_ = d_.array() * d_.array();
86
87			s_lb_ = u_lb_;
88			s_ub_ = u_ub_;
89			}
90
91			const VectorXs& get_d() const { return d_; };
92
93			private:
94			VectorXs a_;
95			VectorXs d_;
96
97			Scalar smooth_;
98
99			protected:
100			using Base::s_lb_;
101			using Base::s_ub_;
102
103			using Base::u_lb_;
104			using Base::u_ub_;
105			};
106
107			} // namespace crocoddyl
108
109			#endif // CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_