| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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_HPP_ | ||
| 11 | #define CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/activation-base.hpp" | ||
| 14 | #include "crocoddyl/core/fwd.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | template <typename _Scalar> | ||
| 19 | class ActivationModelQuadTpl : public ActivationModelAbstractTpl<_Scalar> { | ||
| 20 | public: | ||
| 21 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 22 | ✗ | CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelQuadTpl) | |
| 23 | |||
| 24 | typedef _Scalar Scalar; | ||
| 25 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 26 | typedef ActivationModelAbstractTpl<Scalar> Base; | ||
| 27 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 28 | typedef typename MathBase::VectorXs VectorXs; | ||
| 29 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 30 | |||
| 31 | ✗ | explicit ActivationModelQuadTpl(const std::size_t nr) : Base(nr) {}; | |
| 32 | ✗ | virtual ~ActivationModelQuadTpl() = default; | |
| 33 | |||
| 34 | ✗ | virtual void calc(const std::shared_ptr<ActivationDataAbstract>& data, | |
| 35 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 36 | ✗ | if (static_cast<std::size_t>(r.size()) != nr_) { | |
| 37 | ✗ | throw_pretty( | |
| 38 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 39 | std::to_string(nr_) + ")"); | ||
| 40 | } | ||
| 41 | ✗ | data->a_value = Scalar(0.5) * r.dot(r); | |
| 42 | ✗ | }; | |
| 43 | |||
| 44 | ✗ | virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract>& data, | |
| 45 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 46 | ✗ | if (static_cast<std::size_t>(r.size()) != nr_) { | |
| 47 | ✗ | throw_pretty( | |
| 48 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 49 | std::to_string(nr_) + ")"); | ||
| 50 | } | ||
| 51 | |||
| 52 | ✗ | data->Ar = r; | |
| 53 | // The Hessian has constant values which were set in createData. | ||
| 54 | ✗ | assert_pretty(MatrixXs(data->Arr).isApprox(MatrixXs::Identity(nr_, nr_)), | |
| 55 | "Arr has wrong value"); | ||
| 56 | ✗ | }; | |
| 57 | |||
| 58 | ✗ | virtual std::shared_ptr<ActivationDataAbstract> createData() override { | |
| 59 | ✗ | std::shared_ptr<ActivationDataAbstract> data = | |
| 60 | std::allocate_shared<ActivationDataAbstract>( | ||
| 61 | ✗ | Eigen::aligned_allocator<ActivationDataAbstract>(), this); | |
| 62 | ✗ | data->Arr.diagonal().setOnes(); | |
| 63 | ✗ | return data; | |
| 64 | ✗ | }; | |
| 65 | |||
| 66 | template <typename NewScalar> | ||
| 67 | ✗ | ActivationModelQuadTpl<NewScalar> cast() const { | |
| 68 | typedef ActivationModelQuadTpl<NewScalar> ReturnType; | ||
| 69 | ✗ | ReturnType res(nr_); | |
| 70 | ✗ | return res; | |
| 71 | } | ||
| 72 | |||
| 73 | /** | ||
| 74 | * @brief Print relevant information of the quadratic model | ||
| 75 | * | ||
| 76 | * @param[out] os Output stream object | ||
| 77 | */ | ||
| 78 | ✗ | virtual void print(std::ostream& os) const override { | |
| 79 | ✗ | os << "ActivationModelQuad {nr=" << nr_ << "}"; | |
| 80 | ✗ | } | |
| 81 | |||
| 82 | protected: | ||
| 83 | using Base::nr_; | ||
| 84 | }; | ||
| 85 | |||
| 86 | } // namespace crocoddyl | ||
| 87 | |||
| 88 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActivationModelQuadTpl) | ||
| 89 | |||
| 90 | #endif // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_HPP_ | ||
| 91 |