10 #ifndef CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_ 11 #define CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_ 16 #include "crocoddyl/core/fwd.hpp" 17 #include "crocoddyl/core/activation-base.hpp" 21 template <
typename _Scalar>
22 class ActivationModelNumDiffTpl :
public ActivationModelAbstractTpl<_Scalar> {
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
27 typedef MathBaseTpl<Scalar> MathBase;
28 typedef ActivationModelAbstractTpl<Scalar> Base;
29 typedef ActivationDataNumDiffTpl<Scalar> Data;
30 typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
31 typedef typename MathBase::VectorXs VectorXs;
32 typedef typename MathBase::MatrixXs MatrixXs;
49 virtual void calc(
const boost::shared_ptr<ActivationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& r);
54 virtual void calcDiff(
const boost::shared_ptr<ActivationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& r);
61 virtual boost::shared_ptr<ActivationDataAbstract>
createData();
68 const boost::shared_ptr<Base>&
get_model()
const;
88 boost::shared_ptr<Base> model_;
100 template <
typename _Scalar>
101 struct ActivationDataNumDiffTpl :
public ActivationDataAbstractTpl<_Scalar> {
102 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
104 typedef _Scalar Scalar;
105 typedef MathBaseTpl<Scalar> MathBase;
106 typedef typename MathBase::VectorXs VectorXs;
107 typedef ActivationDataAbstractTpl<Scalar> Base;
108 typedef typename MathBase::MatrixXs MatrixXs;
116 template <
template <
typename Scalar>
class Model>
118 :
Base(model),
dr(model->get_model()->get_nr()),
rp(model->get_model()->get_nr()), Arr_(Arr.rows(), Arr.cols()) {
122 data_0 = model->get_model()->createData();
123 const std::size_t nr = model->get_model()->get_nr();
125 for (std::size_t i = 0; i < nr; ++i) {
126 data_rp.push_back(model->get_model()->createData());
130 for (std::size_t i = 0; i < 4; ++i) {
131 data_r2p.push_back(model->get_model()->createData());
138 std::vector<boost::shared_ptr<Base> >
data_rp;
152 #include "crocoddyl/core/numdiff/activation.hxx" 154 #endif // CROCODDYL_CORE_NUMDIFF_ACTIVATION_HPP_ virtual boost::shared_ptr< ActivationDataAbstract > createData()
Create a Data object from the given model.
std::vector< boost::shared_ptr< Base > > data_rp
The temporary data associated with the input variation.
boost::shared_ptr< Base > data_0
The data that contains the final results.
std::vector< boost::shared_ptr< Base > > data_r2p
The temporary data associated with the input variation.
ActivationModelNumDiffTpl(boost::shared_ptr< Base > model)
Construct a new ActivationModelNumDiff object.
virtual void calc(const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
const Scalar get_disturbance() const
Get the disturbance_ object.
ActivationDataNumDiffTpl(Model< Scalar > *const model)
Construct a new ActivationDataNumDiff object.
const boost::shared_ptr< Base > & get_model() const
Get the model_ object.
void set_disturbance(const Scalar disturbance)
Set the disturbance_ object.
virtual ~ActivationModelNumDiffTpl()
Destroy the ActivationModelNumDiff object.
virtual void calcDiff(const boost::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r)
VectorXs rp
The input + the disturbance on one DoF "\f$ r^+ = rp = \int r + dr \f$".