crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
smooth-abs.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_ACTIVATIONS_SMOOTH_ABS_HPP_
10 #define CROCODDYL_CORE_ACTIVATIONS_SMOOTH_ABS_HPP_
11 
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/activations/smooth-1norm.hpp"
14 #include "crocoddyl/core/utils/deprecate.hpp"
15 
16 namespace crocoddyl {
17 
18 template <typename Scalar>
20  public:
21  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 
24 
25  DEPRECATED("Use ActivationModelSmooth1Norm",
26  explicit ActivationModelSmoothAbsTpl(const std::size_t nr, const Scalar eps = Scalar(1.))
27  : Base(nr, eps){};)
28 };
29 
30 template <typename Scalar>
32  public:
33  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34 
36 
37  template <typename Activation>
38  DEPRECATED("Use ActivationDataSmooth1Norm", explicit ActivationDataSmoothAbsTpl(Activation* const activation)
39  : Base(activation){})
40 };
41 
42 } // namespace crocoddyl
43 
44 #endif // CROCODDYL_CORE_ACTIVATIONS_SMOOTH_ABS_HPP_