| Directory: | ./ |
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| File: | include/crocoddyl/core/activations/quadratic.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 23 | 26 | 88.5% |
| Branches: | 7 | 54 | 13.0% |
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| 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 <stdexcept> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/activation-base.hpp" | ||
| 16 | #include "crocoddyl/core/fwd.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | template <typename _Scalar> | ||
| 21 | class ActivationModelQuadTpl : public ActivationModelAbstractTpl<_Scalar> { | ||
| 22 | public: | ||
| 23 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 24 | 16 | CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelQuadTpl) | |
| 25 | |||
| 26 | typedef _Scalar Scalar; | ||
| 27 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 28 | typedef ActivationModelAbstractTpl<Scalar> Base; | ||
| 29 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 30 | typedef typename MathBase::VectorXs VectorXs; | ||
| 31 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 32 | |||
| 33 | 4478 | explicit ActivationModelQuadTpl(const std::size_t nr) : Base(nr) {}; | |
| 34 | 8968 | virtual ~ActivationModelQuadTpl() = default; | |
| 35 | |||
| 36 | 296717 | virtual void calc(const std::shared_ptr<ActivationDataAbstract>& data, | |
| 37 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 38 |
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296717 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 39 | ✗ | throw_pretty( | |
| 40 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 41 | std::to_string(nr_) + ")"); | ||
| 42 | } | ||
| 43 | 296717 | data->a_value = Scalar(0.5) * r.dot(r); | |
| 44 | 296717 | }; | |
| 45 | |||
| 46 | 50852 | virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract>& data, | |
| 47 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 48 |
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50852 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 49 | ✗ | throw_pretty( | |
| 50 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 51 | std::to_string(nr_) + ")"); | ||
| 52 | } | ||
| 53 | |||
| 54 | 50852 | data->Ar = r; | |
| 55 | // The Hessian has constant values which were set in createData. | ||
| 56 |
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50852 | assert_pretty(MatrixXs(data->Arr).isApprox(MatrixXs::Identity(nr_, nr_)), |
| 57 | "Arr has wrong value"); | ||
| 58 | 50852 | }; | |
| 59 | |||
| 60 | 340861 | virtual std::shared_ptr<ActivationDataAbstract> createData() override { | |
| 61 |
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340861 | std::shared_ptr<ActivationDataAbstract> data = |
| 62 | std::allocate_shared<ActivationDataAbstract>( | ||
| 63 | 340861 | Eigen::aligned_allocator<ActivationDataAbstract>(), this); | |
| 64 |
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340861 | data->Arr.diagonal().setOnes(); |
| 65 | 340861 | return data; | |
| 66 | ✗ | }; | |
| 67 | |||
| 68 | template <typename NewScalar> | ||
| 69 | 4 | ActivationModelQuadTpl<NewScalar> cast() const { | |
| 70 | typedef ActivationModelQuadTpl<NewScalar> ReturnType; | ||
| 71 | 4 | ReturnType res(nr_); | |
| 72 | 4 | return res; | |
| 73 | } | ||
| 74 | |||
| 75 | /** | ||
| 76 | * @brief Print relevant information of the quadratic model | ||
| 77 | * | ||
| 78 | * @param[out] os Output stream object | ||
| 79 | */ | ||
| 80 | 37 | virtual void print(std::ostream& os) const override { | |
| 81 | 37 | os << "ActivationModelQuad {nr=" << nr_ << "}"; | |
| 82 | 37 | } | |
| 83 | |||
| 84 | protected: | ||
| 85 | using Base::nr_; | ||
| 86 | }; | ||
| 87 | |||
| 88 | } // namespace crocoddyl | ||
| 89 | |||
| 90 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 91 | crocoddyl::ActivationModelQuadTpl<double>; | ||
| 92 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 93 | crocoddyl::ActivationModelQuadTpl<float>; | ||
| 94 | |||
| 95 | #endif // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_HPP_ | ||
| 96 |