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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, 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_ACTIVATIONS_QUADRATIC_FLAT_LOG_HPP_ |
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#define CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_LOG_HPP_ |
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#include "crocoddyl/core/activation-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Quadratic-flat-log activation |
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* |
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* This activation function describes a logarithmic quadratic activation |
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* depending on the quadratic norm of a residual vector, i.e. \f[ |
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* \begin{equation} log(1 + \|\mathbf{r}\|^2 / \alpha) \end{equation} \f] where |
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* \f$\alpha\f$ defines the width of the quadratic basin, \f$r\f$ is the scalar |
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* residual, \f$nr\f$ is the dimension of the residual vector. |
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* |
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* The computation of the function and it derivatives are carried out in |
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* `calc()` and `caldDiff()`, respectively. |
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* |
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* \sa `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ActivationModelQuadFlatLogTpl |
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: public ActivationModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelQuadFlatLogTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ActivationModelAbstractTpl<Scalar> Base; |
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typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; |
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typedef ActivationDataQuadFlatLogTpl<Scalar> Data; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/* |
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* @brief Initialize the quadratic-flat-log activation model |
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* |
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* The default `alpha` value is defined as 1. |
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* |
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* @param[in] nr Dimension of the residual vector |
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* @param[in] alpha Width of quadratic basin (default: 1.) |
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*/ |
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explicit ActivationModelQuadFlatLogTpl(const std::size_t nr, |
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const Scalar alpha = Scalar(1.)) |
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: Base(nr), alpha_(alpha) { |
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if (alpha < Scalar(0.)) { |
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throw_pretty("Invalid argument: " << "alpha should be a positive value"); |
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} |
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}; |
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virtual ~ActivationModelQuadFlatLogTpl() = default; |
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/* |
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* @brief Compute the quadratic-flat-log function |
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* |
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* @param[in] data Quadratic-log activation data |
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* @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<ActivationDataAbstract> &data, |
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const Eigen::Ref<const VectorXs> &r) override { |
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if (static_cast<std::size_t>(r.size()) != nr_) { |
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throw_pretty( |
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"Invalid argument: " << "r has wrong dimension (it should be " + |
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std::to_string(nr_) + ")"); |
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} |
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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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d->a0 = r.squaredNorm() / alpha_; |
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data->a_value = log(Scalar(1.0) + d->a0); |
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}; |
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/* |
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* @brief Compute the derivatives of the quadratic-flat-log function |
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* |
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* @param[in] data Quadratic-log activation data |
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* @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ |
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*/ |
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virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract> &data, |
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const Eigen::Ref<const VectorXs> &r) override { |
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if (static_cast<std::size_t>(r.size()) != nr_) { |
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throw_pretty( |
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"Invalid argument: " << "r has wrong dimension (it should be " + |
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std::to_string(nr_) + ")"); |
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} |
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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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d->a1 = Scalar(2.0) / (alpha_ + alpha_ * d->a0); |
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data->Ar = d->a1 * r; |
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data->Arr.diagonal() = -d->a1 * d->a1 * r.array().square(); |
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data->Arr.diagonal().array() += d->a1; |
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}; |
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/* |
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* @brief Create the quadratic-flat-log activation data |
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* |
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* @return the activation data |
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*/ |
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virtual std::shared_ptr<ActivationDataAbstract> createData() override { |
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std::shared_ptr<Data> data = |
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std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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return data; |
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}; |
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template <typename NewScalar> |
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ActivationModelQuadFlatLogTpl<NewScalar> cast() const { |
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typedef ActivationModelQuadFlatLogTpl<NewScalar> ReturnType; |
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ReturnType res(nr_, scalar_cast<NewScalar>(alpha_)); |
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return res; |
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} |
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Scalar get_alpha() const { return alpha_; }; |
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void set_alpha(const Scalar alpha) { alpha_ = alpha; }; |
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/** |
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* @brief Print relevant information of the quadratic flat-log 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 override { |
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os << "ActivationModelQuadFlatLog {nr=" << nr_ << ", a=" << alpha_ << "}"; |
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} |
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protected: |
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using Base::nr_; //!< Dimension of the residual vector |
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private: |
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Scalar alpha_; //!< Width of quadratic basin |
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}; |
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/* |
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* @brief Data structure of the quadratic-flat-log activation |
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* |
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* @param[in] a0 computed in calc to avoid recomputation |
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* @param[in] a1 computed in calcDiff to avoid recomputation |
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*/ |
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template <typename _Scalar> |
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struct ActivationDataQuadFlatLogTpl |
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: public ActivationDataAbstractTpl<_Scalar> { |
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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::DiagonalMatrixXs DiagonalMatrixXs; |
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typedef ActivationDataAbstractTpl<Scalar> Base; |
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template <typename Activation> |
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explicit ActivationDataQuadFlatLogTpl(Activation *const activation) |
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: Base(activation), a0(Scalar(0)), a1(Scalar(0)) {} |
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virtual ~ActivationDataQuadFlatLogTpl() = default; |
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Scalar a0; |
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Scalar a1; |
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using Base::a_value; |
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using Base::Ar; |
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using Base::Arr; |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
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crocoddyl::ActivationModelQuadFlatLogTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::ActivationDataQuadFlatLogTpl) |
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#endif // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_FLAT_LOG_HPP_ |
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