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 |
|
|
boost::shared_ptr<Base> model) |
17 |
|
|
: Base(model->get_nr()), |
18 |
|
|
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 boost::shared_ptr<ActivationDataAbstract>& data, |
27 |
|
|
const Eigen::Ref<const VectorXs>& r) { |
28 |
✓✗✗✓
|
9 |
if (static_cast<std::size_t>(r.size()) != model_->get_nr()) { |
29 |
|
|
throw_pretty("Invalid argument: " |
30 |
|
|
<< "r has wrong dimension (it should be " + |
31 |
|
|
std::to_string(model_->get_nr()) + ")"); |
32 |
|
|
} |
33 |
|
9 |
boost::shared_ptr<Data> data_nd = boost::static_pointer_cast<Data>(data); |
34 |
✓✗ |
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 boost::shared_ptr<ActivationDataAbstract>& data, |
41 |
|
|
const Eigen::Ref<const VectorXs>& r) { |
42 |
✓✗✗✓
|
9 |
if (static_cast<std::size_t>(r.size()) != model_->get_nr()) { |
43 |
|
|
throw_pretty("Invalid argument: " |
44 |
|
|
<< "r has wrong dimension (it should be " + |
45 |
|
|
std::to_string(model_->get_nr()) + ")"); |
46 |
|
|
} |
47 |
|
9 |
boost::shared_ptr<Data> data_nd = boost::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 |
✓✗ |
9 |
const Scalar rh_jac = e_jac_ * std::max(1., r.norm()); |
55 |
✓✗ |
9 |
data_nd->rp = r; |
56 |
✓✓ |
54 |
for (unsigned int i_r = 0; i_r < nr; ++i_r) { |
57 |
✓✗ |
45 |
data_nd->rp(i_r) += rh_jac; |
58 |
✓✗✓✗
|
45 |
model_->calc(data_nd->data_rp[i_r], data_nd->rp); |
59 |
✓✗ |
45 |
data_nd->rp(i_r) -= rh_jac; |
60 |
✓✗ |
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 |
✓✗✓✗ ✓✗✓✗
|
9 |
data_nd->Arr_.noalias() = data->Ar * data->Ar.transpose(); |
65 |
✓✗✓✗
|
9 |
data->Arr.diagonal() = data_nd->Arr_.diagonal(); |
66 |
|
9 |
} |
67 |
|
|
|
68 |
|
|
template <typename Scalar> |
69 |
|
|
boost::shared_ptr<ActivationDataAbstractTpl<Scalar> > |
70 |
|
11 |
ActivationModelNumDiffTpl<Scalar>::createData() { |
71 |
✓✗ |
11 |
return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
72 |
|
|
} |
73 |
|
|
|
74 |
|
|
template <typename Scalar> |
75 |
|
|
const boost::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: " |
90 |
|
|
<< "Disturbance constant is positive"); |
91 |
|
|
} |
92 |
|
|
e_jac_ = disturbance; |
93 |
|
|
} |
94 |
|
|
|
95 |
|
|
} // namespace crocoddyl |