2-norm barrier activation More...

#include <2norm-barrier.hpp>

Inheritance diagram for ActivationModel2NormBarrierTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef ActivationModelAbstractTpl< Scalar >	Base
typedef ActivationData2NormBarrierTpl< Scalar >	Data
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ActivationModelAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ActivationModel2NormBarrierTpl (const std::size_t nr, const Scalar alpha=Scalar(0.1), const bool true_hessian=false)
	Initialize the 2-norm barrier activation model.
virtual void	calc (const std::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r) override
	Compute the 2-norm barrier function.
virtual void	calcDiff (const std::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r) override
	Compute the derivatives of the 2norm-barrier function.
template<typename NewScalar>
ActivationModel2NormBarrierTpl< NewScalar >	cast () const
virtual std::shared_ptr< ActivationDataAbstract >	createData () override
	Create the 2norm-barrier activation data.
const Scalar &	get_alpha () const
	Get and set the threshold factor.
virtual void	print (std::ostream &os) const override
	Print relevant information of the 2-norm barrier model.
void	set_alpha (const Scalar &alpha)
Public Member Functions inherited from ActivationModelAbstractTpl< _Scalar >
	ActivationModelAbstractTpl (const std::size_t nr)
std::size_t	get_nr () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Public Attributes inherited from ActivationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
Scalar	alpha_
	< Dimension of the residual vector
std::size_t	nr_
bool	true_hessian_
Protected Attributes inherited from ActivationModelAbstractTpl< _Scalar >
std::size_t	nr_

Detailed Description

template<typename _Scalar>
class crocoddyl::ActivationModel2NormBarrierTpl< _Scalar >

2-norm barrier activation

This activation function describes a quadratic barrier of the 2-norm of a residual vector, i.e.,

$\Bigg\{\begin{aligned} &\frac{1}{2} (d - \alpha)^2, &\textrm{if} \,\,\, d < \alpha \\ &0, &\textrm{otherwise}, \end{aligned}$

where $d = \|r\|$ is the norm of the residual, $\alpha$ the threshold distance from which the barrier is active, $nr$ is the dimension of the residual vector.

The computation of the function and it derivatives are carried out in calc() and calcDiff(), respectively.

See also: ActivationModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 39 of file 2norm-barrier.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 46 of file 2norm-barrier.hpp.

◆ Base

template<typename _Scalar>

typedef ActivationModelAbstractTpl<Scalar> Base

Definition at line 47 of file 2norm-barrier.hpp.

◆ ActivationDataAbstract

template<typename _Scalar>

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

Definition at line 48 of file 2norm-barrier.hpp.

◆ Data

template<typename _Scalar>

typedef ActivationData2NormBarrierTpl<Scalar> Data

Definition at line 49 of file 2norm-barrier.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 50 of file 2norm-barrier.hpp.

Constructor & Destructor Documentation

◆ ActivationModel2NormBarrierTpl()

template<typename _Scalar>

ActivationModel2NormBarrierTpl	(	const std::size_t	nr,
		const Scalar	alpha = Scalar(0.1),
		const bool	true_hessian = false )

inlineexplicit

Initialize the 2-norm barrier activation model.

The default alpha value is defined as 0.1.

Parameters

[in]	nr	Dimension of the residual vector
[in]	alpha	Threshold factor (default 0.1)
[in]	true_hessian	Boolean indicating whether to use the Gauss-Newton approximation or true Hessian in computing the derivatives (default: false)

Definition at line 62 of file 2norm-barrier.hpp.

Member Function Documentation

◆ calc()

template<typename _Scalar>

virtual void calc	(	const std::shared_ptr< ActivationDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	r )

inlineoverridevirtual

Compute the 2-norm barrier function.

Parameters

[in]	data	2-norm barrier activation data
[in]	r	Residual vector $\mathbf{r}\in\mathbb{R}^{nr}$

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 78 of file 2norm-barrier.hpp.

◆ calcDiff()

template<typename _Scalar>

virtual void calcDiff	(	const std::shared_ptr< ActivationDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	r )

inlineoverridevirtual

Compute the derivatives of the 2norm-barrier function.

Parameters

[in]	data	2-norm barrier activation data
[in]	r	Residual vector $\mathbf{r}\in\mathbb{R}^{nr}$

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 101 of file 2norm-barrier.hpp.

◆ createData()

template<typename _Scalar>

virtual std::shared_ptr< ActivationDataAbstract > createData ( )

inlineoverridevirtual

Create the 2norm-barrier activation data.

Returns: the activation data

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 132 of file 2norm-barrier.hpp.

◆ cast()

template<typename _Scalar>

template<typename NewScalar>

ActivationModel2NormBarrierTpl< NewScalar > cast ( ) const

inline

Definition at line 137 of file 2norm-barrier.hpp.

◆ get_alpha()

template<typename _Scalar>

const Scalar & get_alpha ( ) const

inline

Get and set the threshold factor.

Definition at line 146 of file 2norm-barrier.hpp.

◆ set_alpha()

template<typename _Scalar>

void set_alpha ( const Scalar & alpha )

inline

Definition at line 147 of file 2norm-barrier.hpp.

◆ print()

template<typename _Scalar>

virtual void print ( std::ostream & os ) const

inlineoverridevirtual

Print relevant information of the 2-norm barrier model.

Parameters

[out] os Output stream object

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 154 of file 2norm-barrier.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 45 of file 2norm-barrier.hpp.

◆ alpha_

template<typename _Scalar>

Scalar alpha_

protected

< Dimension of the residual vector

Threshold factor

Definition at line 161 of file 2norm-barrier.hpp.

◆ true_hessian_

template<typename _Scalar>

bool true_hessian_

protected

Use true Hessian in calcDiff if true, Gauss-Newton approximation if false

Definition at line 162 of file 2norm-barrier.hpp.

◆ nr_

template<typename _Scalar>

std::size_t nr_

protected

Definition at line 68 of file activation-base.hpp.

The documentation for this class was generated from the following file:

/build/source/include/crocoddyl/core/activations/2norm-barrier.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ ActivationDataAbstract

◆ Data

◆ VectorXs

Constructor & Destructor Documentation

◆ ActivationModel2NormBarrierTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ cast()

◆ get_alpha()

◆ set_alpha()

◆ print()

Member Data Documentation

◆ Scalar

◆ alpha_

◆ true_hessian_

◆ nr_