crocoddyl
1.9.0
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>
19
class
ActivationModelSmoothAbsTpl
:
public
ActivationModelSmooth1NormTpl
<Scalar> {
20
public
:
21
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22
23
typedef
ActivationModelSmooth1NormTpl<Scalar>
Base
;
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>
31
struct
ActivationDataSmoothAbsTpl
:
public
ActivationDataSmooth1NormTpl
<Scalar> {
32
public
:
33
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
34
35
typedef
ActivationDataSmooth1NormTpl<Scalar>
Base
;
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_
crocoddyl::ActivationModelAbstractTpl
Definition:
activation-base.hpp:23
crocoddyl::ActivationModelSmooth1NormTpl
Smooth-abs activation.
Definition:
smooth-1norm.hpp:34
crocoddyl::ActivationModelSmoothAbsTpl
Definition:
smooth-abs.hpp:19
crocoddyl::ActivationDataAbstractTpl
Definition:
activation-base.hpp:65
crocoddyl::ActivationDataSmooth1NormTpl
Definition:
smooth-1norm.hpp:125
crocoddyl::ActivationDataSmoothAbsTpl
Definition:
smooth-abs.hpp:31
include
crocoddyl
core
activations
smooth-abs.hpp
Generated by
1.9.1