2-norm barrier activation More...

#include <2norm-barrier.hpp>

Inheritance 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...

std::size_t	nr_

bool	true_hessian_

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 42 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 64 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 81 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 104 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 134 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 149 of file 2norm-barrier.hpp.

Member Data Documentation

◆ alpha_

Scalar alpha_

protected

< Dimension of the residual vector

Threshold factor

Definition at line 156 of file 2norm-barrier.hpp.

◆ true_hessian_

bool true_hessian_

protected

Use true Hessian in calcDiff if true, Gauss-Newton approximation if false

Definition at line 157 of file 2norm-barrier.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/activations/2norm-barrier.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ActivationModel2NormBarrierTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ alpha_

◆ true_hessian_

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