9 #ifndef CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_BARRIER_HPP_
10 #define CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_BARRIER_HPP_
14 #include <pinocchio/utils/static-if.hpp>
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/utils/exception.hpp"
18 #include "crocoddyl/core/activation-base.hpp"
22 template <
typename _Scalar>
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
28 typedef typename MathBase::VectorXs VectorXs;
29 typedef typename MathBase::MatrixXs MatrixXs;
31 ActivationBoundsTpl(
const VectorXs& lower,
const VectorXs& upper,
const Scalar b = (Scalar)1.)
32 : lb(lower), ub(upper), beta(b) {
33 if (lb.size() != ub.size()) {
34 throw_pretty(
"Invalid argument: "
35 <<
"The lower and upper bounds don't have the same dimension (lb,ub dimensions equal to " +
36 std::to_string(lb.size()) +
"," + std::to_string(ub.size()) +
", respectively)");
38 if (beta < Scalar(0) || beta > Scalar(1.)) {
39 throw_pretty(
"Invalid argument: "
40 <<
"The range of beta is between 0 and 1");
43 for (std::size_t i = 0; i < static_cast<std::size_t>(lb.size()); ++i) {
44 if (isfinite(lb(i)) && isfinite(ub(i))) {
45 if (lb(i) - ub(i) > 0) {
46 throw_pretty(
"Invalid argument: "
47 <<
"The lower and upper bounds are badly defined; ub has to be bigger / equals to lb");
51 if (!isfinite(lb(i))) {
52 lb(i) = -std::numeric_limits<Scalar>::max();
54 if (!isfinite(ub(i))) {
55 ub(i) = std::numeric_limits<Scalar>::max();
59 if (beta >= Scalar(0) && beta <= Scalar(1.)) {
60 VectorXs m = Scalar(0.5) * (lb + ub);
61 VectorXs d = Scalar(0.5) * (ub - lb);
85 template <
typename _Scalar>
88 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
90 typedef _Scalar Scalar;
96 typedef typename MathBase::VectorXs VectorXs;
97 typedef typename MathBase::MatrixXs MatrixXs;
100 :
Base(bounds.lb.size()), bounds_(bounds){};
103 virtual void calc(
const boost::shared_ptr<ActivationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& r) {
104 if (
static_cast<std::size_t
>(r.size()) != nr_) {
105 throw_pretty(
"Invalid argument: "
106 <<
"r has wrong dimension (it should be " + std::to_string(nr_) +
")");
109 boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data);
111 d->rlb_min_ = (r - bounds_.lb).array().min(Scalar(0.));
112 d->rub_max_ = (r - bounds_.ub).array().max(Scalar(0.));
114 Scalar(0.5) * d->rlb_min_.matrix().squaredNorm() + Scalar(0.5) * d->rub_max_.matrix().squaredNorm();
117 virtual void calcDiff(
const boost::shared_ptr<ActivationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& r) {
118 if (
static_cast<std::size_t
>(r.size()) != nr_) {
119 throw_pretty(
"Invalid argument: "
120 <<
"r has wrong dimension (it should be " + std::to_string(nr_) +
")");
123 boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data);
124 data->Ar = (d->rlb_min_ + d->rub_max_).matrix();
126 using pinocchio::internal::if_then_else;
127 for (Eigen::Index i = 0; i < data->Arr.cols(); i++) {
128 data->Arr.diagonal()[i] = if_then_else(
129 pinocchio::internal::LE, r[i] - bounds_.lb[i], Scalar(0.), Scalar(1.),
130 if_then_else(pinocchio::internal::GE, r[i] - bounds_.ub[i], Scalar(0.), Scalar(1.), Scalar(0.)));
134 virtual boost::shared_ptr<ActivationDataAbstract> createData() {
135 return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(),
this);
146 virtual void print(std::ostream& os)
const { os <<
"ActivationModelQuadraticBarrier {nr=" << nr_ <<
"}"; }
155 template <
typename _Scalar>
157 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
159 typedef _Scalar Scalar;
161 typedef typename MathBase::ArrayXs ArrayXs;
164 template <
typename Activation>
166 :
Base(activation), rlb_min_(activation->get_nr()), rub_max_(activation->get_nr()) {
180 #endif // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_BARRIER_HPP_