ActivationModelSmooth1NormTpl< _Scalar > Class Template Reference

Smooth-abs activation. More...

#include <smooth-1norm.hpp>

Inheritance diagram for ActivationModelSmooth1NormTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef ActivationModelAbstractTpl< Scalar >	Base
typedef ActivationDataSmooth1NormTpl< 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
	ActivationModelSmooth1NormTpl (const std::size_t nr, const Scalar eps=Scalar(1.))
	Initialize the smooth-abs activation model. More...
virtual void	calc (const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
	Compute the smooth-abs function. More...
virtual void	calcDiff (const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
	Compute the derivatives of the smooth-abs function. More...
virtual boost::shared_ptr< ActivationDataAbstract >	createData ()
	Create the smooth-abs activation data. More...
virtual void	print (std::ostream &os) const
	Print relevant information of the smooth-1norm model. More...
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	eps_
	< Dimension of the residual vector More...
std::size_t	nr_
Protected Attributes inherited from ActivationModelAbstractTpl< _Scalar >
std::size_t	nr_

Detailed Description

template<typename _Scalar>
class crocoddyl::ActivationModelSmooth1NormTpl< _Scalar >

Smooth-abs activation.

This activation function describes a smooth representation of an absolute activation (1-norm) for each element of a residual vector, i.e.

\[ \begin{equation} sum^nr_{i=0} \sqrt{\epsilon + \|r_i\|^2} \end{equation} \]

where \(\epsilon\) defines the smoothing factor, \(r_i\) is the scalar residual for the \(i\) constraints, \(nr\) 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 37 of file smooth-1norm.hpp.

Constructor & Destructor Documentation

ActivationModelSmooth1NormTpl()

ActivationModelSmooth1NormTpl ( const std::size_t  nr, const Scalar  eps = Scalar(1.)  )

inlineexplicit

Initialize the smooth-abs activation model.

The default eps value is defined as 1.

Parameters

[in]	nr	Dimension of the residual vector
[in]	eps	Smoothing factor (default: 1.)

Definition at line 58 of file smooth-1norm.hpp.

Member Function Documentation

calc()

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

inlinevirtual

Compute the smooth-abs function.

Parameters

[in]	data	Smooth-abs activation data
[in]	r	Residual vector \(\mathbf{r}\in\mathbb{R}^{nr}\)

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 79 of file smooth-1norm.hpp.

calcDiff()

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

inlinevirtual

Compute the derivatives of the smooth-abs function.

Parameters

[in]	data	Smooth-abs activation data
[in]	r	Residual vector \(\mathbf{r}\in\mathbb{R}^{nr}\)

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 98 of file smooth-1norm.hpp.

createData()

virtual boost::shared_ptr<ActivationDataAbstract> createData ( )

inlinevirtual

Create the smooth-abs activation data.

Returns

the activation data

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 117 of file smooth-1norm.hpp.

print()

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

inlinevirtual

Print relevant information of the smooth-1norm model.

Parameters

[out]

os

Output stream object

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 126 of file smooth-1norm.hpp.

Member Data Documentation

eps_

Scalar eps_

protected

< Dimension of the residual vector

Smoothing factor

Definition at line 132 of file smooth-1norm.hpp.

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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/smooth-1norm.hpp