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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_ACTION_FACTORY_HPP_ |
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#define CROCODDYL_ACTION_FACTORY_HPP_ |
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#include <iterator> |
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#include "crocoddyl/core/action-base.hpp" |
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#include "crocoddyl/core/numdiff/action.hpp" |
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#include "crocoddyl/multibody/actions/impulse-fwddyn.hpp" |
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#include "state.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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struct ActionModelTypes { |
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enum Type { |
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ActionModelUnicycle, |
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ActionModelLQRDriftFree, |
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ActionModelLQR, |
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ActionModelRandomLQR, |
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ActionModelRandomLQRwithTerminalConstraint, |
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ActionModelImpulseFwdDynamics_HyQ, |
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ActionModelImpulseFwdDynamics_Talos, |
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NbActionModelTypes |
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}; |
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static std::vector<Type> init_all() { |
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std::vector<Type> v; |
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v.reserve(NbActionModelTypes); |
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for (int i = 0; i < NbActionModelTypes; ++i) { |
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v.push_back((Type)i); |
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} |
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return v; |
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} |
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static const std::vector<Type> all; |
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}; |
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std::ostream& operator<<(std::ostream& os, ActionModelTypes::Type type); |
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class ActionModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit ActionModelFactory(); |
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~ActionModelFactory(); |
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enum Instance { First, Second, Terminal }; |
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std::shared_ptr<crocoddyl::ActionModelAbstract> create( |
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ActionModelTypes::Type type, Instance instance = Instance::First) const; |
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std::shared_ptr<crocoddyl::ActionModelImpulseFwdDynamics> |
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create_impulseFwdDynamics(StateModelTypes::Type state_type) const; |
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}; |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_ACTION_FACTORY_HPP_ |
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