9 #ifndef CROCODDYL_CORE_ACTIVATION_BASE_HPP_ 10 #define CROCODDYL_CORE_ACTIVATION_BASE_HPP_ 13 #include <boost/shared_ptr.hpp> 14 #include <boost/make_shared.hpp> 15 #include <boost/core/demangle.hpp> 17 #include "crocoddyl/core/fwd.hpp" 18 #include "crocoddyl/core/mathbase.hpp" 19 #include "crocoddyl/core/utils/to-string.hpp" 23 template <
typename _Scalar>
26 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
28 typedef _Scalar Scalar;
31 typedef typename MathBase::VectorXs VectorXs;
32 typedef typename MathBase::MatrixXs MatrixXs;
37 virtual void calc(
const boost::shared_ptr<ActivationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& r) = 0;
38 virtual void calcDiff(
const boost::shared_ptr<ActivationDataAbstract>& data,
39 const Eigen::Ref<const VectorXs>& r) = 0;
40 virtual boost::shared_ptr<ActivationDataAbstract> createData() {
41 return boost::allocate_shared<ActivationDataAbstract>(Eigen::aligned_allocator<ActivationDataAbstract>(),
this);
44 std::size_t get_nr()
const {
return nr_; };
49 template <
class Scalar>
50 friend std::ostream& operator<<(std::ostream& os, const ActivationModelAbstractTpl<Scalar>& model) {
60 virtual void print(std::ostream& os)
const { os << boost::core::demangle(
typeid(*this).name()); }
66 template <
typename _Scalar>
68 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70 typedef _Scalar Scalar;
72 typedef typename MathBase::VectorXs VectorXs;
73 typedef typename MathBase::MatrixXs MatrixXs;
74 typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs;
76 template <
template <
typename Scalar>
class Activation>
78 : a_value(0.), Ar(VectorXs::Zero(activation->get_nr())), Arr(DiagonalMatrixXs(activation->get_nr())) {
81 virtual ~ActivationDataAbstractTpl() {}
88 return data.Arr.diagonal().asDiagonal();
91 data.Arr.diagonal() = Arr.diagonal();
97 #endif // CROCODDYL_CORE_ACTIVATION_BASE_HPP_
virtual void print(std::ostream &os) const
Print relevant information of the activation model.