10 #ifndef CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
11 #define CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
16 #include "crocoddyl/core/activation-base.hpp"
17 #include "crocoddyl/core/fwd.hpp"
21 template <
typename _Scalar>
22 class ActivationModelNumDiffTpl :
public ActivationModelAbstractTpl<_Scalar> {
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
27 typedef MathBaseTpl<Scalar> MathBase;
28 typedef ActivationModelAbstractTpl<Scalar> Base;
29 typedef ActivationDataNumDiffTpl<Scalar> Data;
30 typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
31 typedef typename MathBase::VectorXs VectorXs;
32 typedef typename MathBase::MatrixXs MatrixXs;
49 virtual void calc(
const boost::shared_ptr<ActivationDataAbstract>& data,
50 const Eigen::Ref<const VectorXs>& r);
55 virtual void calcDiff(
const boost::shared_ptr<ActivationDataAbstract>& data,
56 const Eigen::Ref<const VectorXs>& r);
63 virtual boost::shared_ptr<ActivationDataAbstract>
createData();
70 const boost::shared_ptr<Base>&
get_model()
const;
85 boost::shared_ptr<Base>
94 template <
typename _Scalar>
95 struct ActivationDataNumDiffTpl :
public ActivationDataAbstractTpl<_Scalar> {
96 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
98 typedef _Scalar Scalar;
99 typedef MathBaseTpl<Scalar> MathBase;
100 typedef typename MathBase::VectorXs VectorXs;
101 typedef ActivationDataAbstractTpl<Scalar> Base;
102 typedef typename MathBase::MatrixXs MatrixXs;
110 template <
template <
typename Scalar>
class Model>
113 dr(model->get_model()->get_nr()),
114 rp(model->get_model()->get_nr()),
115 Arr_(Arr.rows(), Arr.cols()) {
119 data_0 = model->get_model()->createData();
120 const std::size_t nr = model->get_model()->get_nr();
122 for (std::size_t i = 0; i < nr; ++i) {
123 data_rp.push_back(model->get_model()->createData());
127 for (std::size_t i = 0; i < 4; ++i) {
128 data_r2p.push_back(model->get_model()->createData());
134 boost::shared_ptr<Base>
data_0;
136 std::vector<boost::shared_ptr<Base> >
138 std::vector<boost::shared_ptr<Base> >
152 #include "crocoddyl/core/numdiff/activation.hxx"
154 #endif // CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_