quadratic.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_HPP_
#define CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_HPP_
 
#include <stdexcept>
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/activation-base.hpp"
#include "crocoddyl/core/utils/exception.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActivationModelQuadTpl : public ActivationModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActivationModelAbstractTpl<Scalar> Base;
  typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit ActivationModelQuadTpl(const std::size_t nr) : Base(nr){};
  virtual ~ActivationModelQuadTpl(){};
 
  virtual void calc(const boost::shared_ptr<ActivationDataAbstract>& data, const Eigen::Ref<const VectorXs>& r) {
    if (static_cast<std::size_t>(r.size()) != nr_) {
      throw_pretty("Invalid argument: "
                   << "r has wrong dimension (it should be " + std::to_string(nr_) + ")");
    }
    data->a_value = (Scalar(0.5) * r.transpose() * r)[0];
  };
 
  virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract>& data, const Eigen::Ref<const VectorXs>& r) {
    if (static_cast<std::size_t>(r.size()) != nr_) {
      throw_pretty("Invalid argument: "
                   << "r has wrong dimension (it should be " + std::to_string(nr_) + ")");
    }
 
    data->Ar = r;
    // The Hessian has constant values which were set in createData.
    assert_pretty(MatrixXs(data->Arr).isApprox(MatrixXs::Identity(nr_, nr_)), "Arr has wrong value");
  };
 
  virtual boost::shared_ptr<ActivationDataAbstract> createData() {
    boost::shared_ptr<ActivationDataAbstract> data =
        boost::allocate_shared<ActivationDataAbstract>(Eigen::aligned_allocator<ActivationDataAbstract>(), this);
    data->Arr.diagonal().setOnes();
    return data;
  };
 
  virtual void print(std::ostream& os) const { os << "ActivationModelQuad {nr=" << nr_ << "}"; }
 
 protected:
  using Base::nr_;
};
 
}  // namespace crocoddyl
 
#endif  // CROCODDYL_CORE_ACTIVATIONS_QUADRATIC_HPP_