ActivationModel2NormBarrierTpl< _Scalar > Class Template Reference

2-norm barrier activation More...

#include <crocoddyl/core/activations/2norm-barrier.hpp>

Inheritance diagram for ActivationModel2NormBarrierTpl< _Scalar >:

Collaboration diagram for ActivationModel2NormBarrierTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef ActivationModelAbstractTpl< Scalar >	Base
typedef ActivationData2NormBarrierTpl< Scalar >	Data
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ActivationModelAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ActivationModel2NormBarrierTpl (const std::size_t nr, const Scalar alpha=Scalar(0.1), const bool true_hessian=false)
	Initialize the 2-norm barrier activation model. More...
virtual void	calc (const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
	Compute the 2-norm barrier function. More...
virtual void	calcDiff (const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
	Compute the derivatives of the 2norm-barrier function. More...
virtual boost::shared_ptr< ActivationDataAbstract >	createData ()
	Create the 2norm-barrier activation data. More...
const Scalar &	get_alpha () const
	Get and set the threshold factor.
virtual void	print (std::ostream &os) const
	Print relevant information of the 2-norm barrier model. More...
void	set_alpha (const Scalar &alpha)
Public Member Functions inherited from ActivationModelAbstractTpl< _Scalar >
	ActivationModelAbstractTpl (const std::size_t nr)
std::size_t	get_nr () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Public Attributes inherited from ActivationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
Scalar	alpha_
	< Dimension of the residual vector More...
bool	true_hessian_
	Use true hessian in calcDiff if true, Gauss-Newton approximation if false.
Protected Attributes inherited from ActivationModelAbstractTpl< _Scalar >
std::size_t	nr_

Detailed Description

template<typename _Scalar>
class crocoddyl::ActivationModel2NormBarrierTpl< _Scalar >

2-norm barrier activation

This activation function describes a quadratic barrier of the 2-norm of a residual vector, i.e.,

\[ \Bigg\{\begin{aligned} &\frac{1}{2} (d - \alpha)^2, &\textrm{if} \,\,\, d < \alpha \\ &0, &\textrm{otherwise}, \end{aligned} \]

where \(d = \|r\|\) is the norm of the residual, \(\alpha\) the threshold distance from which the barrier is active, \(nr\) is the dimension of the residual vector.

The computation of the function and it derivatives are carried out in calc() and calcDiff(), respectively.

See also

ActivationModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 39 of file 2norm-barrier.hpp.

Constructor & Destructor Documentation

ActivationModel2NormBarrierTpl()

ActivationModel2NormBarrierTpl ( const std::size_t  nr, const Scalar  alpha = Scalar(0.1), const bool  true_hessian = false  )

inlineexplicit

Initialize the 2-norm barrier activation model.

The default alpha value is defined as 0.1.

Parameters

[in]	nr	Dimension of the residual vector
[in]	alpha	Threshold factor (default 0.1)
[in]	true_hessian	Boolean indicating whether to use the Gauss-Newton approximation or true Hessian in computing the derivatives (default: false)

Definition at line 60 of file 2norm-barrier.hpp.

Member Function Documentation

calc()

virtual void calc ( const boost::shared_ptr< ActivationDataAbstract > &  data, const Eigen::Ref< const VectorXs > &  r  )

inlinevirtual

Compute the 2-norm barrier function.

Parameters

[in]	data	2-norm barrier activation data
[in]	r	Residual vector \(\mathbf{r}\in\mathbb{R}^{nr}\)

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 76 of file 2norm-barrier.hpp.

calcDiff()

virtual void calcDiff ( const boost::shared_ptr< ActivationDataAbstract > &  data, const Eigen::Ref< const VectorXs > &  r  )

inlinevirtual

Compute the derivatives of the 2norm-barrier function.

Parameters

[in]	data	2-norm barrier activation data
[in]	r	Residual vector \(\mathbf{r}\in\mathbb{R}^{nr}\)

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 97 of file 2norm-barrier.hpp.

createData()

virtual boost::shared_ptr<ActivationDataAbstract> createData ( )

inlinevirtual

Create the 2norm-barrier activation data.

Returns

the activation data

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 123 of file 2norm-barrier.hpp.

print()

virtual void print ( std::ostream &  os ) const

inlinevirtual

Print relevant information of the 2-norm barrier model.

Parameters

[out]

os

Output stream object

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 138 of file 2norm-barrier.hpp.

Member Data Documentation

alpha_

Scalar alpha_

protected

< Dimension of the residual vector

Threshold factor

Definition at line 144 of file 2norm-barrier.hpp.

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The documentation for this class was generated from the following file:

• include/crocoddyl/core/activations/2norm-barrier.hpp