| Directory: | ./ |
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| File: | include/crocoddyl/core/activations/smooth-1norm.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 26 | 31 | 83.9% |
| Branches: | 20 | 86 | 23.3% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2020, 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_SMOOTH_1NORM_HPP_ | ||
| 10 | #define CROCODDYL_CORE_ACTIVATIONS_SMOOTH_1NORM_HPP_ | ||
| 11 | |||
| 12 | #include <iostream> | ||
| 13 | #include <stdexcept> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/activation-base.hpp" | ||
| 16 | #include "crocoddyl/core/fwd.hpp" | ||
| 17 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | |||
| 21 | /** | ||
| 22 | * @brief Smooth-abs activation | ||
| 23 | * | ||
| 24 | * This activation function describes a smooth representation of an absolute | ||
| 25 | * activation (1-norm) for each element of a residual vector, i.e. \f[ | ||
| 26 | * \begin{equation} sum^nr_{i=0} \sqrt{\epsilon + \|r_i\|^2} \end{equation} \f] | ||
| 27 | * where \f$\epsilon\f$ defines the smoothing factor, \f$r_i\f$ is the scalar | ||
| 28 | * residual for the \f$i\f$ constraints, \f$nr\f$ is the dimension of the | ||
| 29 | * residual vector. | ||
| 30 | * | ||
| 31 | * The computation of the function and it derivatives are carried out in | ||
| 32 | * `calc()` and `caldDiff()`, respectively. | ||
| 33 | * | ||
| 34 | * \sa `calc()`, `calcDiff()`, `createData()` | ||
| 35 | */ | ||
| 36 | template <typename _Scalar> | ||
| 37 | class ActivationModelSmooth1NormTpl | ||
| 38 | : public ActivationModelAbstractTpl<_Scalar> { | ||
| 39 | public: | ||
| 40 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 41 | |||
| 42 | typedef _Scalar Scalar; | ||
| 43 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 44 | typedef ActivationModelAbstractTpl<Scalar> Base; | ||
| 45 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 46 | typedef ActivationDataSmooth1NormTpl<Scalar> Data; | ||
| 47 | typedef typename MathBase::VectorXs VectorXs; | ||
| 48 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 49 | |||
| 50 | /** | ||
| 51 | * @brief Initialize the smooth-abs activation model | ||
| 52 | * | ||
| 53 | * The default `eps` value is defined as 1. | ||
| 54 | * | ||
| 55 | * @param[in] nr Dimension of the residual vector | ||
| 56 | * @param[in] eps Smoothing factor (default: 1.) | ||
| 57 | */ | ||
| 58 | 223 | explicit ActivationModelSmooth1NormTpl(const std::size_t nr, | |
| 59 | const Scalar eps = Scalar(1.)) | ||
| 60 | 223 | : Base(nr), eps_(eps) { | |
| 61 |
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223 | if (eps < Scalar(0.)) { |
| 62 | ✗ | throw_pretty("Invalid argument: " << "eps should be a positive value"); | |
| 63 | } | ||
| 64 |
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223 | if (eps == Scalar(0.)) { |
| 65 | ✗ | std::cerr << "Warning: eps=0 leads to derivatives discontinuities in the " | |
| 66 | "origin, it becomes the absolute function" | ||
| 67 | ✗ | << std::endl; | |
| 68 | } | ||
| 69 | 223 | }; | |
| 70 | 450 | virtual ~ActivationModelSmooth1NormTpl() {}; | |
| 71 | |||
| 72 | /** | ||
| 73 | * @brief Compute the smooth-abs function | ||
| 74 | * | ||
| 75 | * @param[in] data Smooth-abs activation data | ||
| 76 | * @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ | ||
| 77 | */ | ||
| 78 | 9675 | virtual void calc(const boost::shared_ptr<ActivationDataAbstract>& data, | |
| 79 | const Eigen::Ref<const VectorXs>& r) { | ||
| 80 |
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9675 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 81 | ✗ | throw_pretty( | |
| 82 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 83 | std::to_string(nr_) + ")"); | ||
| 84 | } | ||
| 85 | 9675 | boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data); | |
| 86 | |||
| 87 |
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9675 | d->a = (r.array().cwiseAbs2().array() + eps_).array().cwiseSqrt(); |
| 88 |
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9675 | data->a_value = d->a.sum(); |
| 89 | 9675 | }; | |
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Compute the derivatives of the smooth-abs function | ||
| 93 | * | ||
| 94 | * @param[in] data Smooth-abs activation data | ||
| 95 | * @param[in] r Residual vector \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ | ||
| 96 | */ | ||
| 97 | 304 | virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract>& data, | |
| 98 | const Eigen::Ref<const VectorXs>& r) { | ||
| 99 |
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304 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 100 | ✗ | throw_pretty( | |
| 101 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 102 | std::to_string(nr_) + ")"); | ||
| 103 | } | ||
| 104 | |||
| 105 | 304 | boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data); | |
| 106 |
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304 | data->Ar = r.cwiseProduct(d->a.cwiseInverse()); |
| 107 |
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304 | data->Arr.diagonal() = |
| 108 |
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304 | d->a.cwiseProduct(d->a).cwiseProduct(d->a).cwiseInverse(); |
| 109 | 304 | }; | |
| 110 | |||
| 111 | /** | ||
| 112 | * @brief Create the smooth-abs activation data | ||
| 113 | * | ||
| 114 | * @return the activation data | ||
| 115 | */ | ||
| 116 | 7837 | virtual boost::shared_ptr<ActivationDataAbstract> createData() { | |
| 117 |
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7837 | return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
| 118 | }; | ||
| 119 | |||
| 120 | /** | ||
| 121 | * @brief Print relevant information of the smooth-1norm model | ||
| 122 | * | ||
| 123 | * @param[out] os Output stream object | ||
| 124 | */ | ||
| 125 | 37 | virtual void print(std::ostream& os) const { | |
| 126 | 37 | os << "ActivationModelSmooth1Norm {nr=" << nr_ << ", eps=" << eps_ << "}"; | |
| 127 | 37 | } | |
| 128 | |||
| 129 | protected: | ||
| 130 | using Base::nr_; //!< Dimension of the residual vector | ||
| 131 | Scalar eps_; //!< Smoothing factor | ||
| 132 | }; | ||
| 133 | |||
| 134 | template <typename _Scalar> | ||
| 135 | struct ActivationDataSmooth1NormTpl | ||
| 136 | : public ActivationDataAbstractTpl<_Scalar> { | ||
| 137 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 138 | |||
| 139 | typedef _Scalar Scalar; | ||
| 140 | typedef ActivationDataAbstractTpl<Scalar> Base; | ||
| 141 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 142 | typedef typename MathBase::VectorXs VectorXs; | ||
| 143 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 144 | |||
| 145 | template <typename Activation> | ||
| 146 | 7837 | explicit ActivationDataSmooth1NormTpl(Activation* const activation) | |
| 147 |
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7837 | : Base(activation), a(VectorXs::Zero(activation->get_nr())) {} |
| 148 | |||
| 149 | VectorXs a; | ||
| 150 | using Base::Arr; | ||
| 151 | }; | ||
| 152 | |||
| 153 | } // namespace crocoddyl | ||
| 154 | |||
| 155 | #endif // CROCODDYL_CORE_ACTIVATIONS_SMOOTH_1NORM_HPP_ | ||
| 156 |