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_; };
59 virtual void print(std::ostream& os)
const { os << boost::core::demangle(
typeid(*this).name()); }
65 template <
typename _Scalar>
67 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
69 typedef _Scalar Scalar;
71 typedef typename MathBase::VectorXs VectorXs;
72 typedef typename MathBase::MatrixXs MatrixXs;
73 typedef typename MathBase::DiagonalMatrixXs DiagonalMatrixXs;
75 template <
template <
typename Scalar>
class Activation>
77 : a_value(0.), Ar(VectorXs::Zero(activation->get_nr())), Arr(DiagonalMatrixXs(activation->get_nr())) {
87 return data.Arr.diagonal().asDiagonal();
90 data.Arr.diagonal() = Arr.diagonal();
96 #endif // CROCODDYL_CORE_ACTIVATION_BASE_HPP_