| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/activations/quadratic-flat-exp.hpp |
| Date: | 2025-03-26 19:23:43 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 34 | 39 | 87.2% |
| Branches: | 14 | 70 | 20.0% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_EXP_HPP_ | ||
| 11 | #define CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_EXP_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/activation-base.hpp" | ||
| 14 | #include "crocoddyl/core/fwd.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | /* | ||
| 19 | * @brief Quadratic-flat-exp activation | ||
| 20 | * | ||
| 21 | * This activation function describes a quadratic exponential activation | ||
| 22 | * depending on the square norm of a residual vector, i.e. \f[ \begin{equation} | ||
| 23 | * 1 - exp(\|\mathbf{r}\|^2 / \alpha) \end{equation} \f] where \f$\alpha\f$ | ||
| 24 | * defines the width of the quadratic basin, \f$r\f$ is the scalar residual, | ||
| 25 | * \f$nr\f$ is the dimension of the residual vector. Far | ||
| 26 | * away from zero, the quadFlat activation is nearly flat. | ||
| 27 | * | ||
| 28 | * The computation of the function and it derivatives are carried out in | ||
| 29 | * `calc()` and `caldDiff()`, respectively. | ||
| 30 | * | ||
| 31 | * \sa `calc()`, `calcDiff()`, `createData()` | ||
| 32 | */ | ||
| 33 | template <typename _Scalar> | ||
| 34 | class ActivationModelQuadFlatExpTpl | ||
| 35 | : public ActivationModelAbstractTpl<_Scalar> { | ||
| 36 | public: | ||
| 37 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 38 | 16 | CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelQuadFlatExpTpl) | |
| 39 | |||
| 40 | typedef _Scalar Scalar; | ||
| 41 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 42 | typedef ActivationModelAbstractTpl<Scalar> Base; | ||
| 43 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 44 | typedef ActivationDataQuadFlatExpTpl<Scalar> Data; | ||
| 45 | typedef typename MathBase::VectorXs VectorXs; | ||
| 46 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 47 | |||
| 48 | /* | ||
| 49 | * @brief Initialize the quadratic-flat-exp activation model | ||
| 50 | * | ||
| 51 | * The default `alpha` value is defined as 1. | ||
| 52 | * | ||
| 53 | * @param[in] nr Dimension of the residual vector | ||
| 54 | * @param[in] alpha Width of quadratic basin (default: 1.) | ||
| 55 | */ | ||
| 56 | |||
| 57 | 227 | explicit ActivationModelQuadFlatExpTpl(const std::size_t nr, | |
| 58 | const Scalar alpha = Scalar(1.)) | ||
| 59 | 227 | : Base(nr), alpha_(alpha) { | |
| 60 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 227 times.
|
227 | if (alpha < Scalar(0.)) { |
| 61 | ✗ | throw_pretty("Invalid argument: " << "alpha should be a positive value"); | |
| 62 | } | ||
| 63 | 227 | }; | |
| 64 | 466 | virtual ~ActivationModelQuadFlatExpTpl() = default; | |
| 65 | |||
| 66 | /* | ||
| 67 | * @brief Compute the quadratic-flat-exp function | ||
| 68 | * | ||
| 69 | * @param[in] data Quadratic-flat activation data | ||
| 70 | * @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ | ||
| 71 | */ | ||
| 72 | 9677 | virtual void calc(const std::shared_ptr<ActivationDataAbstract> &data, | |
| 73 | const Eigen::Ref<const VectorXs> &r) override { | ||
| 74 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 9677 times.
|
9677 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 75 | ✗ | throw_pretty( | |
| 76 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 77 | std::to_string(nr_) + ")"); | ||
| 78 | } | ||
| 79 | 9677 | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 80 | |||
| 81 |
1/2✓ Branch 1 taken 9677 times.
✗ Branch 2 not taken.
|
9677 | d->a0 = exp(-r.squaredNorm() / alpha_); |
| 82 | 9677 | data->a_value = Scalar(1.0) - d->a0; | |
| 83 | 9677 | }; | |
| 84 | |||
| 85 | /* | ||
| 86 | * @brief Compute the derivatives of the quadratic-flat-exp function | ||
| 87 | * | ||
| 88 | * @param[in] data Quadratic-flat activation data | ||
| 89 | * @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ | ||
| 90 | */ | ||
| 91 | 305 | virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract> &data, | |
| 92 | const Eigen::Ref<const VectorXs> &r) override { | ||
| 93 |
1/2✗ Branch 1 not taken.
✓ Branch 2 taken 305 times.
|
305 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 94 | ✗ | throw_pretty( | |
| 95 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 96 | std::to_string(nr_) + ")"); | ||
| 97 | } | ||
| 98 | 305 | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 99 | |||
| 100 | 305 | d->a1 = Scalar(2.0) / alpha_ * d->a0; | |
| 101 |
2/4✓ Branch 2 taken 305 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 305 times.
✗ Branch 7 not taken.
|
305 | data->Ar = d->a1 * r; |
| 102 |
5/10✓ Branch 1 taken 305 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 305 times.
✗ Branch 5 not taken.
✓ Branch 8 taken 305 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 305 times.
✗ Branch 12 not taken.
✓ Branch 16 taken 305 times.
✗ Branch 17 not taken.
|
305 | data->Arr.diagonal() = -Scalar(2.0) * d->a1 * r.array().square() / alpha_; |
| 103 |
2/4✓ Branch 4 taken 305 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 305 times.
✗ Branch 8 not taken.
|
305 | data->Arr.diagonal().array() += d->a1; |
| 104 | 305 | }; | |
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Create the quadratic-flat-exp activation data | ||
| 108 | * | ||
| 109 | * @return the activation data | ||
| 110 | */ | ||
| 111 | 7840 | virtual std::shared_ptr<ActivationDataAbstract> createData() override { | |
| 112 |
1/2✓ Branch 1 taken 7840 times.
✗ Branch 2 not taken.
|
7840 | std::shared_ptr<Data> data = |
| 113 | 7840 | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 114 | 15680 | return data; | |
| 115 | 7840 | }; | |
| 116 | |||
| 117 | template <typename NewScalar> | ||
| 118 | 4 | ActivationModelQuadFlatExpTpl<NewScalar> cast() const { | |
| 119 | typedef ActivationModelQuadFlatExpTpl<NewScalar> ReturnType; | ||
| 120 | 4 | ReturnType res(nr_, scalar_cast<NewScalar>(alpha_)); | |
| 121 | 4 | return res; | |
| 122 | } | ||
| 123 | |||
| 124 | ✗ | Scalar get_alpha() const { return alpha_; }; | |
| 125 | ✗ | void set_alpha(const Scalar alpha) { alpha_ = alpha; }; | |
| 126 | |||
| 127 | /** | ||
| 128 | * @brief Print relevant information of the quadratic flat-exp model | ||
| 129 | * | ||
| 130 | * @param[out] os Output stream object | ||
| 131 | */ | ||
| 132 | 37 | virtual void print(std::ostream &os) const override { | |
| 133 | 37 | os << "ActivationModelQuadFlatExp {nr=" << nr_ << ", a=" << alpha_ << "}"; | |
| 134 | 37 | } | |
| 135 | |||
| 136 | protected: | ||
| 137 | using Base::nr_; //!< Dimension of the residual vector | ||
| 138 | |||
| 139 | private: | ||
| 140 | Scalar alpha_; //!< Width of quadratic basin | ||
| 141 | }; | ||
| 142 | |||
| 143 | /* | ||
| 144 | * @brief Data structure of the quadratic-flat-exp activation | ||
| 145 | * | ||
| 146 | * @param[in] a0 computed in calc to avoid recomputation | ||
| 147 | * @param[in] a1 computed in calcDiff to avoid recomputation | ||
| 148 | */ | ||
| 149 | template <typename _Scalar> | ||
| 150 | struct ActivationDataQuadFlatExpTpl | ||
| 151 | : public ActivationDataAbstractTpl<_Scalar> { | ||
| 152 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 153 | |||
| 154 | typedef _Scalar Scalar; | ||
| 155 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 156 | typedef typename MathBase::VectorXs VectorXs; | ||
| 157 | typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs; | ||
| 158 | typedef ActivationDataAbstractTpl<Scalar> Base; | ||
| 159 | |||
| 160 | template <typename Activation> | ||
| 161 | 7840 | explicit ActivationDataQuadFlatExpTpl(Activation *const activation) | |
| 162 | 7840 | : Base(activation), a0(Scalar(0)), a1(Scalar(0)) {} | |
| 163 | 15680 | virtual ~ActivationDataQuadFlatExpTpl() = default; | |
| 164 | |||
| 165 | Scalar a0; | ||
| 166 | Scalar a1; | ||
| 167 | |||
| 168 | using Base::a_value; | ||
| 169 | using Base::Ar; | ||
| 170 | using Base::Arr; | ||
| 171 | }; | ||
| 172 | |||
| 173 | } // namespace crocoddyl | ||
| 174 | |||
| 175 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 176 | crocoddyl::ActivationModelQuadFlatExpTpl) | ||
| 177 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 178 | crocoddyl::ActivationDataQuadFlatExpTpl) | ||
| 179 | |||
| 180 | #endif // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_EXP_HPP_ | ||
| 181 |