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ActivationModelSmooth2NormTpl< _Scalar > Class Template Reference

Smooth-2Norm activation. More...

#include <smooth-2norm.hpp>

Inheritance diagram for ActivationModelSmooth2NormTpl< _Scalar >:
ActivationModelAbstractTpl< _Scalar >ActivationModelBase

Public Types

typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
typedef ActivationModelAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
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

 ActivationModelSmooth2NormTpl (const std::size_t nr, const Scalar eps=Scalar(1.))
 Initialize the smooth-2Norm activation model.
virtual void calc (const std::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r) override
 Compute the smooth-2Norm function.
virtual void calcDiff (const std::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r) override
 Compute the derivatives of the smooth-2Norm function.
template<typename NewScalar>
ActivationModelSmooth2NormTpl< NewScalar > cast () const
virtual std::shared_ptr< ActivationDataAbstract > createData () override
 Create the smooth-2norm activation data.
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 Member Functions

virtual void print (std::ostream &os) const override
 Print relevant information of the smooth-1norm model.

Protected Attributes

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

Detailed Description

template<typename _Scalar>
class crocoddyl::ActivationModelSmooth2NormTpl< _Scalar >

Smooth-2Norm activation.

This activation function describes a smooth representation of a 2-norm of a residual vector, i.e.

\[ \begin{equation} \sqrt{\epsilon + sum^nr_{i=0} \|r_i\|^2} \end{equation} \]

where $\epsilon$ defines the smoothing factor, $r_i$ is the scalar residual for the $i$ constraints, $nr$ is the dimension of the residual vector.

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

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

Definition at line 32 of file smooth-2norm.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

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

◆ Base

template<typename _Scalar>
typedef ActivationModelAbstractTpl<Scalar> Base

Definition at line 40 of file smooth-2norm.hpp.

◆ ActivationDataAbstract

template<typename _Scalar>
typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

Definition at line 41 of file smooth-2norm.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 42 of file smooth-2norm.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 43 of file smooth-2norm.hpp.

Constructor & Destructor Documentation

◆ ActivationModelSmooth2NormTpl()

template<typename _Scalar>
ActivationModelSmooth2NormTpl(const std::size_tnr,
const Scalareps = Scalar(1.) )
inlineexplicit

Initialize the smooth-2Norm activation model.

The default eps value is defined as 1.

Parameters
[in]nrDimension of the residual vector
[in]epsSmoothing factor (default: 1.)

Definition at line 53 of file smooth-2norm.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 smooth-2Norm function.

Parameters
[in]dataSmooth-2Norm activation data
[in]rResidual vector $\mathbf{r}\in\mathbb{R}^{nr}$

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 68 of file smooth-2norm.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 smooth-2Norm function.

Parameters
[in]dataSmooth-2Norm activation data
[in]rResidual vector $\mathbf{r}\in\mathbb{R}^{nr}$

Implements ActivationModelAbstractTpl< _Scalar >.

Definition at line 85 of file smooth-2norm.hpp.

◆ createData()

template<typename _Scalar>
virtual std::shared_ptr< ActivationDataAbstract > createData()
inlineoverridevirtual

Create the smooth-2norm activation data.

Returns
the activation data

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 102 of file smooth-2norm.hpp.

◆ cast()

template<typename _Scalar>
template<typename NewScalar>
ActivationModelSmooth2NormTpl< NewScalar > cast()const
inline

Definition at line 108 of file smooth-2norm.hpp.

◆ print()

template<typename _Scalar>
virtual void print(std::ostream &os)const
inlineoverrideprotectedvirtual

Print relevant information of the smooth-1norm model.

Parameters
[out]osOutput stream object

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

Definition at line 120 of file smooth-2norm.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 38 of file smooth-2norm.hpp.

◆ eps_

template<typename _Scalar>
Scalar eps_
protected

< Dimension of the residual vector

Smoothing factor

Definition at line 125 of file smooth-2norm.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: