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>
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/mathbase.hpp"
18 #include "crocoddyl/core/utils/to-string.hpp"
22 template <
typename _Scalar>
25 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27 typedef _Scalar Scalar;
30 typedef typename MathBase::VectorXs VectorXs;
31 typedef typename MathBase::MatrixXs MatrixXs;
36 virtual void calc(
const boost::shared_ptr<ActivationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& r) = 0;
37 virtual void calcDiff(
const boost::shared_ptr<ActivationDataAbstract>& data,
38 const Eigen::Ref<const VectorXs>& r) = 0;
39 virtual boost::shared_ptr<ActivationDataAbstract> createData() {
40 return boost::allocate_shared<ActivationDataAbstract>(Eigen::aligned_allocator<ActivationDataAbstract>(),
this);
43 const std::size_t& get_nr()
const {
return nr_; };
49 template <
typename _Scalar>
51 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
53 typedef _Scalar Scalar;
55 typedef typename MathBase::VectorXs VectorXs;
56 typedef typename MathBase::MatrixXs MatrixXs;
57 typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs;
59 template <
template <
typename Scalar>
class Activation>
61 : a_value(0.), Ar(VectorXs::Zero(activation->get_nr())), Arr(DiagonalMatrixXs(activation->get_nr())) {
71 return data.Arr.diagonal().asDiagonal();
74 data.Arr.diagonal() = Arr.diagonal();
80 #endif // CROCODDYL_CORE_ACTIVATION_BASE_HPP_