ActivationModelQuadFlatLogTpl< _Scalar > Class Template Reference

Quadratic-flat-log activation. More...

#include <crocoddyl/core/activations/quadratic-flat-log.hpp>

Inheritance diagram for ActivationModelQuadFlatLogTpl< _Scalar >:

Collaboration diagram for ActivationModelQuadFlatLogTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef ActivationModelAbstractTpl< Scalar >	Base
typedef ActivationDataQuadFlatLogTpl< Scalar >	Data
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
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
	ActivationModelQuadFlatLogTpl (const std::size_t &nr, const Scalar &alpha=Scalar(1.))
virtual void	calc (const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
virtual void	calcDiff (const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
virtual boost::shared_ptr< ActivationDataAbstract >	createData ()
Scalar	get_alpha () const
virtual void	print (std::ostream &os) const
	Print relevant information of the quadratic flat-log 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

Additional Inherited Members
Protected Attributes inherited from ActivationModelAbstractTpl< _Scalar >
std::size_t	nr_

Detailed Description

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

Quadratic-flat-log activation.

This activation function describes a logarithmic quadratic activation depending on the quadratic norm of a residual vector, i.e.

\[ \begin{equation} log(1 + \|\mathbf{r}\|^2 / \alpha) \end{equation} \]

where \(\alpha\) defines the width of the quadratic basin, \(r\) is the scalar residual, \(nr\) is the dimension of the residual vector.

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

See also

calc(), calcDiff(), createData()

Definition at line 33 of file quadratic-flat-log.hpp.

Member Function Documentation

print()

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

inlinevirtual

Print relevant information of the quadratic flat-log model.

Parameters

[out]

os

Output stream object

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 116 of file quadratic-flat-log.hpp.

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

• include/crocoddyl/core/activations/quadratic-flat-log.hpp