activation.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, New York University,
//                          Max Planck Gesellschaft, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
#define CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
 
#include "crocoddyl/core/activation-base.hpp"
#include "crocoddyl/core/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActivationModelNumDiffTpl : public ActivationModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ActivationModelBase, ActivationModelNumDiffTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActivationModelAbstractTpl<Scalar> Base;
  typedef ActivationDataNumDiffTpl<Scalar> Data;
  typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit ActivationModelNumDiffTpl(std::shared_ptr<Base> model);
 
  virtual ~ActivationModelNumDiffTpl();
 
  virtual void calc(const std::shared_ptr<ActivationDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& r) override;
 
  virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& r) override;
 
  virtual std::shared_ptr<ActivationDataAbstract> createData() override;
 
  template <typename NewScalar>
  ActivationModelNumDiffTpl<NewScalar> cast() const;
 
  const std::shared_ptr<Base>& get_model() const;
 
  const Scalar get_disturbance() const;
 
  void set_disturbance(const Scalar disturbance);
 
 private:
  std::shared_ptr<Base>
      model_;     
  Scalar e_jac_;  
 
 protected:
  using Base::nr_;
};
 
template <typename _Scalar>
struct ActivationDataNumDiffTpl : public ActivationDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef ActivationDataAbstractTpl<Scalar> Base;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit ActivationDataNumDiffTpl(Model<Scalar>* const model)
      : Base(model),
        dr(model->get_model()->get_nr()),
        rp(model->get_model()->get_nr()),
        Arr_(Arr.rows(), Arr.cols()) {
    dr.setZero();
    rp.setZero();
    Arr_.setZero();
    data_0 = model->get_model()->createData();
    const std::size_t nr = model->get_model()->get_nr();
    data_rp.clear();
    for (std::size_t i = 0; i < nr; ++i) {
      data_rp.push_back(model->get_model()->createData());
    }
 
    data_r2p.clear();
    for (std::size_t i = 0; i < 4; ++i) {
      data_r2p.push_back(model->get_model()->createData());
    }
  }
 
  VectorXs dr;  
  VectorXs rp;  
  std::shared_ptr<Base> data_0;  
  std::vector<std::shared_ptr<Base> >
      data_rp;  
  std::vector<std::shared_ptr<Base> >
      data_r2p;  
 
  MatrixXs Arr_;
  using Base::a_value;
  using Base::Ar;
  using Base::Arr;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/activation.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActivationModelNumDiffTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActivationDataNumDiffTpl)
 
#endif  // CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_