| Directory: | ./ |
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| File: | include/crocoddyl/core/activations/weighted-quadratic.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 33 | 44 | 75.0% |
| Branches: | 21 | 102 | 20.6% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_HPP_ | ||
| 10 | #define CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_HPP_ | ||
| 11 | |||
| 12 | #include <stdexcept> | ||
| 13 | |||
| 14 | #include "crocoddyl/core/activation-base.hpp" | ||
| 15 | #include "crocoddyl/core/fwd.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | template <typename _Scalar> | ||
| 20 | class ActivationModelWeightedQuadTpl | ||
| 21 | : public ActivationModelAbstractTpl<_Scalar> { | ||
| 22 | public: | ||
| 23 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 24 |
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16 | CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelWeightedQuadTpl) |
| 25 | |||
| 26 | typedef _Scalar Scalar; | ||
| 27 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 28 | typedef ActivationModelAbstractTpl<Scalar> Base; | ||
| 29 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 30 | typedef ActivationDataWeightedQuadTpl<Scalar> Data; | ||
| 31 | typedef typename MathBase::VectorXs VectorXs; | ||
| 32 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 33 | |||
| 34 | 228 | explicit ActivationModelWeightedQuadTpl(const VectorXs& weights) | |
| 35 |
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228 | : Base(weights.size()), weights_(weights), new_weights_(false) {}; |
| 36 | 468 | virtual ~ActivationModelWeightedQuadTpl() = default; | |
| 37 | |||
| 38 | 9677 | virtual void calc(const std::shared_ptr<ActivationDataAbstract>& data, | |
| 39 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 40 |
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9677 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 41 | ✗ | throw_pretty( | |
| 42 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 43 | std::to_string(nr_) + ")"); | ||
| 44 | } | ||
| 45 | 9677 | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 46 | |||
| 47 |
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9677 | d->Wr = weights_.cwiseProduct(r); |
| 48 |
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9677 | data->a_value = Scalar(0.5) * r.dot(d->Wr); |
| 49 | 9677 | }; | |
| 50 | |||
| 51 | 305 | virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract>& data, | |
| 52 | const Eigen::Ref<const VectorXs>& r) override { | ||
| 53 |
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305 | if (static_cast<std::size_t>(r.size()) != nr_) { |
| 54 | ✗ | throw_pretty( | |
| 55 | "Invalid argument: " << "r has wrong dimension (it should be " + | ||
| 56 | std::to_string(nr_) + ")"); | ||
| 57 | } | ||
| 58 | |||
| 59 | 305 | std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data); | |
| 60 |
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305 | data->Ar = d->Wr; |
| 61 |
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305 | if (new_weights_) { |
| 62 | ✗ | data->Arr.diagonal() = weights_; | |
| 63 | ✗ | new_weights_ = false; | |
| 64 | } | ||
| 65 | // The Hessian has constant values which were set in createData. | ||
| 66 | #ifndef NDEBUG | ||
| 67 |
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305 | assert_pretty(MatrixXs(data->Arr).isApprox(Arr_), "Arr has wrong value"); |
| 68 | #endif | ||
| 69 | 305 | }; | |
| 70 | |||
| 71 | 7842 | virtual std::shared_ptr<ActivationDataAbstract> createData() override { | |
| 72 |
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7842 | std::shared_ptr<Data> data = |
| 73 | 7842 | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 74 |
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7842 | data->Arr.diagonal() = weights_; |
| 75 | |||
| 76 | #ifndef NDEBUG | ||
| 77 |
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7842 | Arr_ = data->Arr; |
| 78 | #endif | ||
| 79 | |||
| 80 | 15684 | return data; | |
| 81 | 7842 | }; | |
| 82 | |||
| 83 | template <typename NewScalar> | ||
| 84 | 4 | ActivationModelWeightedQuadTpl<NewScalar> cast() const { | |
| 85 | typedef ActivationModelWeightedQuadTpl<NewScalar> ReturnType; | ||
| 86 |
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4 | ReturnType res(weights_.template cast<NewScalar>()); |
| 87 | 4 | return res; | |
| 88 | } | ||
| 89 | |||
| 90 | ✗ | const VectorXs& get_weights() const { return weights_; }; | |
| 91 | ✗ | void set_weights(const VectorXs& weights) { | |
| 92 | ✗ | if (weights.size() != weights_.size()) { | |
| 93 | ✗ | throw_pretty("Invalid argument: " | |
| 94 | << "weight vector has wrong dimension (it should be " + | ||
| 95 | std::to_string(weights_.size()) + ")"); | ||
| 96 | } | ||
| 97 | |||
| 98 | ✗ | weights_ = weights; | |
| 99 | ✗ | new_weights_ = true; | |
| 100 | ✗ | }; | |
| 101 | |||
| 102 | /** | ||
| 103 | * @brief Print relevant information of the quadratic-weighted model | ||
| 104 | * | ||
| 105 | * @param[out] os Output stream object | ||
| 106 | */ | ||
| 107 | 37 | virtual void print(std::ostream& os) const override { | |
| 108 | 37 | os << "ActivationModelQuad {nr=" << nr_ << "}"; | |
| 109 | 37 | } | |
| 110 | |||
| 111 | protected: | ||
| 112 | using Base::nr_; | ||
| 113 | |||
| 114 | private: | ||
| 115 | VectorXs weights_; | ||
| 116 | bool new_weights_; | ||
| 117 | |||
| 118 | #ifndef NDEBUG | ||
| 119 | MatrixXs Arr_; | ||
| 120 | #endif | ||
| 121 | }; | ||
| 122 | |||
| 123 | template <typename _Scalar> | ||
| 124 | struct ActivationDataWeightedQuadTpl | ||
| 125 | : public ActivationDataAbstractTpl<_Scalar> { | ||
| 126 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 127 | |||
| 128 | typedef _Scalar Scalar; | ||
| 129 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 130 | typedef typename MathBase::VectorXs VectorXs; | ||
| 131 | typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs; | ||
| 132 | typedef ActivationDataAbstractTpl<Scalar> Base; | ||
| 133 | |||
| 134 | template <typename Activation> | ||
| 135 | 7842 | explicit ActivationDataWeightedQuadTpl(Activation* const activation) | |
| 136 |
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7842 | : Base(activation), Wr(VectorXs::Zero(activation->get_nr())) {} |
| 137 | 15684 | virtual ~ActivationDataWeightedQuadTpl() = default; | |
| 138 | |||
| 139 | VectorXs Wr; | ||
| 140 | |||
| 141 | using Base::a_value; | ||
| 142 | using Base::Ar; | ||
| 143 | using Base::Arr; | ||
| 144 | }; | ||
| 145 | |||
| 146 | } // namespace crocoddyl | ||
| 147 | |||
| 148 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 149 | crocoddyl::ActivationModelWeightedQuadTpl) | ||
| 150 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 151 | crocoddyl::ActivationDataWeightedQuadTpl) | ||
| 152 | |||
| 153 | #endif // CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_HPP_ | ||
| 154 |