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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, 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_HPP_ |
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#define CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_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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template <typename _Scalar> |
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class ActivationModelQuadTpl : 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, ActivationModelQuadTpl) |
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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 typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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explicit ActivationModelQuadTpl(const std::size_t nr) : Base(nr) {}; |
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virtual ~ActivationModelQuadTpl() = default; |
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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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data->a_value = Scalar(0.5) * r.dot(r); |
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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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data->Ar = r; |
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// The Hessian has constant values which were set in createData. |
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assert_pretty(MatrixXs(data->Arr).isApprox(MatrixXs::Identity(nr_, nr_)), |
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"Arr has wrong value"); |
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}; |
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virtual std::shared_ptr<ActivationDataAbstract> createData() override { |
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std::shared_ptr<ActivationDataAbstract> data = |
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std::allocate_shared<ActivationDataAbstract>( |
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Eigen::aligned_allocator<ActivationDataAbstract>(), this); |
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data->Arr.diagonal().setOnes(); |
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return data; |
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}; |
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template <typename NewScalar> |
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ActivationModelQuadTpl<NewScalar> cast() const { |
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typedef ActivationModelQuadTpl<NewScalar> ReturnType; |
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ReturnType res(nr_); |
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return res; |
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} |
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/** |
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* @brief Print relevant information of the quadratic 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 << "ActivationModelQuad {nr=" << nr_ << "}"; |
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} |
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protected: |
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using Base::nr_; |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActivationModelQuadTpl) |
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#endif // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_HPP_ |
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