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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, LAAS-CNRS, |
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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_WEIGHTED_QUADRATIC_BARRIER_HPP_ |
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#define CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_BARRIER_HPP_ |
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#include <pinocchio/utils/static-if.hpp> |
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#include "crocoddyl/core/activations/quadratic-barrier.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 ActivationModelWeightedQuadraticBarrierTpl |
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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, |
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ActivationModelWeightedQuadraticBarrierTpl) |
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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 ActivationDataQuadraticBarrierTpl<Scalar> Data; |
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typedef ActivationBoundsTpl<Scalar> ActivationBounds; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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explicit ActivationModelWeightedQuadraticBarrierTpl( |
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const ActivationBounds& bounds, const VectorXs& weights) |
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: Base(bounds.lb.size()), bounds_(bounds), weights_(weights) {}; |
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virtual ~ActivationModelWeightedQuadraticBarrierTpl() = 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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std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); |
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d->rlb_min_ = (r - bounds_.lb).array().min(Scalar(0.)); |
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d->rub_max_ = (r - bounds_.ub).array().max(Scalar(0.)); |
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d->rlb_min_.array() *= weights_.array(); |
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d->rub_max_.array() *= weights_.array(); |
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data->a_value = Scalar(0.5) * d->rlb_min_.matrix().squaredNorm() + |
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Scalar(0.5) * d->rub_max_.matrix().squaredNorm(); |
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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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data->Ar = (d->rlb_min_ + d->rub_max_).matrix(); |
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data->Ar.array() *= weights_.array(); |
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using pinocchio::internal::if_then_else; |
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for (Eigen::Index i = 0; i < data->Arr.cols(); i++) { |
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data->Arr.diagonal()[i] = if_then_else( |
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pinocchio::internal::LE, r[i] - bounds_.lb[i], Scalar(0.), Scalar(1.), |
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if_then_else(pinocchio::internal::GE, r[i] - bounds_.ub[i], |
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Scalar(0.), Scalar(1.), Scalar(0.))); |
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} |
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data->Arr.diagonal().array() *= weights_.array(); |
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}; |
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virtual std::shared_ptr<ActivationDataAbstract> createData() override { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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}; |
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template <typename NewScalar> |
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ActivationModelWeightedQuadraticBarrierTpl<NewScalar> cast() const { |
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typedef ActivationModelWeightedQuadraticBarrierTpl<NewScalar> ReturnType; |
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ReturnType res(bounds_.template cast<NewScalar>(), |
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weights_.template cast<NewScalar>()); |
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return res; |
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} |
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const ActivationBounds& get_bounds() const { return bounds_; }; |
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const VectorXs& get_weights() const { return weights_; }; |
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void set_bounds(const ActivationBounds& bounds) { bounds_ = bounds; }; |
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void set_weights(const VectorXs& weights) { |
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if (weights.size() != weights_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "weight vector has wrong dimension (it should be " + |
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std::to_string(weights_.size()) + ")"); |
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} |
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weights_ = weights; |
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}; |
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/** |
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* @brief Print relevant information of the quadratic barrier 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 << "ActivationModelWeightedQuadraticBarrier {nr=" << nr_ << "}"; |
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} |
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protected: |
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using Base::nr_; |
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private: |
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ActivationBounds bounds_; |
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VectorXs weights_; |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
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crocoddyl::ActivationModelWeightedQuadraticBarrierTpl) |
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#endif // CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_BARRIER_HPP_ |
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