Template Class ActivationModelQuadFlatExpTpl

Defined in File quadratic-flat-exp.hpp

Inheritance Relationships

Base Type

public crocoddyl::ActivationModelAbstractTpl< _Scalar > (Template Class ActivationModelAbstractTpl)

Class Documentation

template<typename _Scalar> class ActivationModelQuadFlatExpTpl : public crocoddyl::ActivationModelAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActivationModelAbstractTpl<Scalar> Base

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

typedef ActivationDataQuadFlatExpTpl<Scalar> Data

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

inline explicit ActivationModelQuadFlatExpTpl(const std::size_t nr, const Scalar alpha = Scalar(1.))

virtual ~ActivationModelQuadFlatExpTpl() = default

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

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

inline virtual std::shared_ptr<ActivationDataAbstract> createData() override

Create the quadratic-flat-exp activation data.

Returns:: the activation data

template<typename NewScalar> inline ActivationModelQuadFlatExpTpl<NewScalar> cast() const

inline Scalar get_alpha() const

inline void set_alpha(const Scalar alpha)

inline virtual void print(std::ostream &os) const override

Print relevant information of the quadratic flat-exp model.

Parameters:: os – [out] Output stream object

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar