weighted-quadratic-barrier.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2026, University of Edinburgh, LAAS-CNRS,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_BARRIER_HPP_
#define CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_BARRIER_HPP_

#include <pinocchio/utils/static-if.hpp>

#include "crocoddyl/core/activations/quadratic-barrier.hpp"
#include "crocoddyl/core/fwd.hpp"

namespace crocoddyl {

template <typename _Scalar>
class ActivationModelWeightedQuadraticBarrierTpl
 : public ActivationModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(ActivationModelBase,
 ActivationModelWeightedQuadraticBarrierTpl)

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ActivationModelAbstractTpl<Scalar> Base;
 typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
 typedef ActivationDataQuadraticBarrierTpl<Scalar> Data;
 typedef ActivationBoundsTpl<Scalar> ActivationBounds;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 explicit ActivationModelWeightedQuadraticBarrierTpl(
 const ActivationBounds& bounds, const VectorXs& weights)
 : Base(bounds.lb.size()), bounds_(bounds), weights_(weights) {};
 virtual ~ActivationModelWeightedQuadraticBarrierTpl() = default;

 virtual void calc(const std::shared_ptr<ActivationDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& r) override {
 if (static_cast<std::size_t>(r.size()) != nr_) {
 throw_pretty(
 "Invalid argument: " << "r has wrong dimension (it should be " +
 std::to_string(nr_) + ")");
 }
 Data* d = static_cast<Data*>(data.get());

 d->rlb_min = (r - bounds_.lb).array().min(Scalar(0.));
 d->rub_max = (r - bounds_.ub).array().max(Scalar(0.));
 data->a_value =
 Scalar(0.5) * (weights_.array() * d->rlb_min.array().square()).sum() +
 Scalar(0.5) * (weights_.array() * d->rub_max.array().square()).sum();
 };

 virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract>& data,
 const Eigen::Ref<const VectorXs>& r) override {
 if (static_cast<std::size_t>(r.size()) != nr_) {
 throw_pretty(
 "Invalid argument: " << "r has wrong dimension (it should be " +
 std::to_string(nr_) + ")");
 }
 std::shared_ptr<Data> d = std::static_pointer_cast<Data>(data);
 data->Ar =
 (weights_.array() * (d->rlb_min.array() + d->rub_max.array())).matrix();

 using pinocchio::internal::if_then_else;
 for (Eigen::Index i = 0; i < data->Arr.rows(); ++i) {
 const Scalar active =
 if_then_else(pinocchio::internal::LT, r[i], bounds_.lb[i], Scalar(1.),
 if_then_else(pinocchio::internal::GT, r[i],
 bounds_.ub[i], Scalar(1.), Scalar(0.)));
 data->Arr.diagonal()[i] = active * weights_[i];
 }
 };

 virtual std::shared_ptr<ActivationDataAbstract> createData() override {
 return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this);
 };

 template <typename NewScalar>
 ActivationModelWeightedQuadraticBarrierTpl<NewScalar> cast() const {
 typedef ActivationModelWeightedQuadraticBarrierTpl<NewScalar> ReturnType;
 ReturnType res(bounds_.template cast<NewScalar>(),
 weights_.template cast<NewScalar>());
 return res;
 }

 const ActivationBounds& get_bounds() const { return bounds_; };
 const VectorXs& get_weights() const { return weights_; };
 void set_bounds(const ActivationBounds& bounds) { bounds_ = bounds; };
 void set_weights(const VectorXs& weights) {
 if (weights.size() != weights_.size()) {
 throw_pretty("Invalid argument: "
 << "weight vector has wrong dimension (it should be " +
 std::to_string(weights_.size()) + ")");
 }
 weights_ = weights;
 };

 virtual void print(std::ostream& os) const override {
 os << "ActivationModelWeightedQuadraticBarrier {nr=" << nr_ << "}";
 }

 protected:
 using Base::nr_;

 private:
 ActivationBounds bounds_;
 VectorXs weights_;
};

} // namespace crocoddyl

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
 crocoddyl::ActivationModelWeightedQuadraticBarrierTpl)

#endif // CROCODDYL_CORE_ACTIVATIONS_WEIGHTED_QUADRATIC_BARRIER_HPP_