| Directory: | ./ |
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| File: | include/crocoddyl/core/activations/quadratic-flat-exp.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_EXP_HPP_ | ||
| 10 | #define CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_EXP_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/activation-base.hpp" | ||
| 13 | #include "crocoddyl/core/fwd.hpp" | ||
| 14 | #include "crocoddyl/core/utils/exception.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 | |||
| 39 | typedef _Scalar Scalar; | ||
| 40 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 41 | typedef ActivationModelAbstractTpl<Scalar> Base; | ||
| 42 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 43 | typedef ActivationDataQuadFlatExpTpl<Scalar> Data; | ||
| 44 | typedef typename MathBase::VectorXs VectorXs; | ||
| 45 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 46 | |||
| 47 | /* | ||
| 48 | * @brief Initialize the quadratic-flat-exp activation model | ||
| 49 | * | ||
| 50 | * The default `alpha` value is defined as 1. | ||
| 51 | * | ||
| 52 | * @param[in] nr Dimension of the residual vector | ||
| 53 | * @param[in] alpha Width of quadratic basin (default: 1.) | ||
| 54 | */ | ||
| 55 | |||
| 56 | 223 | explicit ActivationModelQuadFlatExpTpl(const std::size_t &nr, | |
| 57 | const Scalar &alpha = Scalar(1.)) | ||
| 58 | 223 | : Base(nr), alpha_(alpha) { | |
| 59 |
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223 | if (alpha < Scalar(0.)) { |
| 60 | ✗ | throw_pretty("Invalid argument: " << "alpha should be a positive value"); | |
| 61 | } | ||
| 62 | 223 | }; | |
| 63 | 450 | virtual ~ActivationModelQuadFlatExpTpl() {}; | |
| 64 | |||
| 65 | /* | ||
| 66 | * @brief Compute the quadratic-flat-exp function | ||
| 67 | * | ||
| 68 | * @param[in] data Quadratic-flat activation data | ||
| 69 | * @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ | ||
| 70 | */ | ||
| 71 | 9675 | virtual void calc(const boost::shared_ptr<ActivationDataAbstract> &data, | |
| 72 | const Eigen::Ref<const VectorXs> &r) { | ||
| 73 |
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9675 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 74 | ✗ | throw_pretty( | |
| 75 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 76 | std::to_string(nr_) + ")"); | ||
| 77 | } | ||
| 78 | 9675 | boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data); | |
| 79 | |||
| 80 |
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9675 | d->a0 = exp(-r.squaredNorm() / alpha_); |
| 81 | 9675 | data->a_value = Scalar(1.0) - d->a0; | |
| 82 | 9675 | }; | |
| 83 | |||
| 84 | /* | ||
| 85 | * @brief Compute the derivatives of the quadratic-flat-exp function | ||
| 86 | * | ||
| 87 | * @param[in] data Quadratic-flat activation data | ||
| 88 | * @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ | ||
| 89 | */ | ||
| 90 | 304 | virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract> &data, | |
| 91 | const Eigen::Ref<const VectorXs> &r) { | ||
| 92 |
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304 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 93 | ✗ | throw_pretty( | |
| 94 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 95 | std::to_string(nr_) + ")"); | ||
| 96 | } | ||
| 97 | 304 | boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data); | |
| 98 | |||
| 99 | 304 | d->a1 = Scalar(2.0) / alpha_ * d->a0; | |
| 100 |
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304 | data->Ar = d->a1 * r; |
| 101 |
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304 | data->Arr.diagonal() = -Scalar(2.0) * d->a1 * r.array().square() / alpha_; |
| 102 |
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304 | data->Arr.diagonal().array() += d->a1; |
| 103 | 304 | }; | |
| 104 | |||
| 105 | /** | ||
| 106 | * @brief Create the quadratic-flat-exp activation data | ||
| 107 | * | ||
| 108 | * @return the activation data | ||
| 109 | */ | ||
| 110 | 7837 | virtual boost::shared_ptr<ActivationDataAbstract> createData() { | |
| 111 |
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7837 | boost::shared_ptr<Data> data = |
| 112 | 7837 | boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 113 | 15674 | return data; | |
| 114 | 7837 | }; | |
| 115 | |||
| 116 | ✗ | Scalar get_alpha() const { return alpha_; }; | |
| 117 | ✗ | void set_alpha(const Scalar alpha) { alpha_ = alpha; }; | |
| 118 | |||
| 119 | /** | ||
| 120 | * @brief Print relevant information of the quadratic flat-exp model | ||
| 121 | * | ||
| 122 | * @param[out] os Output stream object | ||
| 123 | */ | ||
| 124 | 37 | virtual void print(std::ostream &os) const { | |
| 125 | 37 | os << "ActivationModelQuadFlatExp {nr=" << nr_ << ", a=" << alpha_ << "}"; | |
| 126 | 37 | } | |
| 127 | |||
| 128 | protected: | ||
| 129 | using Base::nr_; //!< Dimension of the residual vector | ||
| 130 | |||
| 131 | private: | ||
| 132 | Scalar alpha_; //!< Width of quadratic basin | ||
| 133 | }; | ||
| 134 | |||
| 135 | /* | ||
| 136 | * @brief Data structure of the quadratic-flat-exp activation | ||
| 137 | * | ||
| 138 | * @param[in] a0 computed in calc to avoid recomputation | ||
| 139 | * @param[in] a1 computed in calcDiff to avoid recomputation | ||
| 140 | */ | ||
| 141 | template <typename _Scalar> | ||
| 142 | struct ActivationDataQuadFlatExpTpl | ||
| 143 | : public ActivationDataAbstractTpl<_Scalar> { | ||
| 144 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 145 | |||
| 146 | typedef _Scalar Scalar; | ||
| 147 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 148 | typedef ActivationDataAbstractTpl<Scalar> Base; | ||
| 149 | |||
| 150 | template <typename Activation> | ||
| 151 | 7837 | explicit ActivationDataQuadFlatExpTpl(Activation *const activation) | |
| 152 | 7837 | : Base(activation), a0(0), a1(0) {} | |
| 153 | |||
| 154 | Scalar a0; | ||
| 155 | Scalar a1; | ||
| 156 | }; | ||
| 157 | |||
| 158 | } // namespace crocoddyl | ||
| 159 | |||
| 160 | #endif // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_EXP_HPP_ | ||
| 161 |