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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, 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_HPP_ |
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#define CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_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 ActivationModelWeightedQuadTpl |
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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, ActivationModelWeightedQuadTpl) |
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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 ActivationDataWeightedQuadTpl<Scalar> Data; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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explicit ActivationModelWeightedQuadTpl(const VectorXs& weights) |
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: Base(weights.size()), weights_(weights), new_weights_(false) {}; |
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virtual ~ActivationModelWeightedQuadTpl() = 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->Wr = weights_.cwiseProduct(r); |
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data->a_value = Scalar(0.5) * r.dot(d->Wr); |
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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->Wr; |
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if (new_weights_) { |
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data->Arr.diagonal() = weights_; |
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new_weights_ = false; |
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} |
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// The Hessian has constant values which were set in createData. |
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#ifndef NDEBUG |
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assert_pretty(MatrixXs(data->Arr).isApprox(Arr_), "Arr has wrong value"); |
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#endif |
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}; |
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virtual std::shared_ptr<ActivationDataAbstract> createData() override { |
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std::shared_ptr<Data> data = |
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std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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data->Arr.diagonal() = weights_; |
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#ifndef NDEBUG |
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Arr_ = data->Arr; |
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#endif |
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return data; |
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}; |
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template <typename NewScalar> |
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ActivationModelWeightedQuadTpl<NewScalar> cast() const { |
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typedef ActivationModelWeightedQuadTpl<NewScalar> ReturnType; |
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ReturnType res(weights_.template cast<NewScalar>()); |
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return res; |
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} |
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const VectorXs& get_weights() const { return weights_; }; |
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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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new_weights_ = true; |
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}; |
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/** |
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* @brief Print relevant information of the quadratic-weighted 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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private: |
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VectorXs weights_; |
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bool new_weights_; |
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#ifndef NDEBUG |
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MatrixXs Arr_; |
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#endif |
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}; |
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template <typename _Scalar> |
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struct ActivationDataWeightedQuadTpl |
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: public ActivationDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs; |
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typedef ActivationDataAbstractTpl<Scalar> Base; |
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template <typename Activation> |
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explicit ActivationDataWeightedQuadTpl(Activation* const activation) |
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: Base(activation), Wr(VectorXs::Zero(activation->get_nr())) {} |
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virtual ~ActivationDataWeightedQuadTpl() = default; |
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VectorXs Wr; |
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using Base::a_value; |
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using Base::Ar; |
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using Base::Arr; |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
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crocoddyl::ActivationModelWeightedQuadTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::ActivationDataWeightedQuadTpl) |
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#endif // CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_HPP_ |
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