crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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activation.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2020, LAAS-CNRS, New York University,
5// Max Planck Gesellschaft, University of Edinburgh
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
11#define CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
12
13#include <vector>
14#include <iostream>
15
16#include "crocoddyl/core/fwd.hpp"
17#include "crocoddyl/core/activation-base.hpp"
18
19namespace crocoddyl {
20
21template <typename _Scalar>
23 public:
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25
26 typedef _Scalar Scalar;
31 typedef typename MathBase::VectorXs VectorXs;
32 typedef typename MathBase::MatrixXs MatrixXs;
33
39 explicit ActivationModelNumDiffTpl(boost::shared_ptr<Base> model);
40
45
49 virtual void calc(const boost::shared_ptr<ActivationDataAbstract>& data, const Eigen::Ref<const VectorXs>& r);
50
54 virtual void calcDiff(const boost::shared_ptr<ActivationDataAbstract>& data, const Eigen::Ref<const VectorXs>& r);
55
61 virtual boost::shared_ptr<ActivationDataAbstract> createData();
62
68 const boost::shared_ptr<Base>& get_model() const;
69
75 const Scalar get_disturbance() const;
76
82 void set_disturbance(const Scalar disturbance);
83
84 private:
88 boost::shared_ptr<Base> model_;
89
94 Scalar disturbance_;
95
96 protected:
97 using Base::nr_;
98};
99
100template <typename _Scalar>
102 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103
104 typedef _Scalar Scalar;
106 typedef typename MathBase::VectorXs VectorXs;
108 typedef typename MathBase::MatrixXs MatrixXs;
109
116 template <template <typename Scalar> class Model>
117 explicit ActivationDataNumDiffTpl(Model<Scalar>* const model)
118 : Base(model), dr(model->get_model()->get_nr()), rp(model->get_model()->get_nr()), Arr_(Arr.rows(), Arr.cols()) {
119 dr.setZero();
120 rp.setZero();
121 Arr_.setZero();
122 data_0 = model->get_model()->createData();
123 const std::size_t nr = model->get_model()->get_nr();
124 data_rp.clear();
125 for (std::size_t i = 0; i < nr; ++i) {
126 data_rp.push_back(model->get_model()->createData());
127 }
128
129 data_r2p.clear();
130 for (std::size_t i = 0; i < 4; ++i) {
131 data_r2p.push_back(model->get_model()->createData());
132 }
133 }
134
135 VectorXs dr;
136 VectorXs rp;
137 boost::shared_ptr<Base> data_0;
138 std::vector<boost::shared_ptr<Base> > data_rp;
139 std::vector<boost::shared_ptr<Base> > data_r2p;
140
141 MatrixXs Arr_;
142 using Base::a_value;
143 using Base::Ar;
144 using Base::Arr;
145};
146
147} // namespace crocoddyl
148
149/* --- Details -------------------------------------------------------------- */
150/* --- Details -------------------------------------------------------------- */
151/* --- Details -------------------------------------------------------------- */
152#include "crocoddyl/core/numdiff/activation.hxx"
153
154#endif // CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_
virtual boost::shared_ptr< ActivationDataAbstract > createData()
Create a Data object from the given model.
const boost::shared_ptr< Base > & get_model() const
Get the model_ object.
const Scalar get_disturbance() const
Get the disturbance_ object.
virtual void calc(const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
void set_disturbance(const Scalar disturbance)
Set the disturbance_ object.
ActivationModelNumDiffTpl(boost::shared_ptr< Base > model)
Construct a new ActivationModelNumDiff object.
virtual void calcDiff(const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
virtual ~ActivationModelNumDiffTpl()
Destroy the ActivationModelNumDiff object.
VectorXs rp
The input + the disturbance on one DoF "\f$ r^+ = rp = \int r + dr \f$".
Definition: activation.hpp:136
boost::shared_ptr< Base > data_0
The data that contains the final results.
Definition: activation.hpp:137
std::vector< boost::shared_ptr< Base > > data_rp
The temporary data associated with the input variation.
Definition: activation.hpp:138
ActivationDataNumDiffTpl(Model< Scalar > *const model)
Construct a new ActivationDataNumDiff object.
Definition: activation.hpp:117
std::vector< boost::shared_ptr< Base > > data_r2p
The temporary data associated with the input variation.
Definition: activation.hpp:139