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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh |
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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_ACTIVATION_FACTORY_HPP_ |
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#define CROCODDYL_ACTIVATION_FACTORY_HPP_ |
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#include "crocoddyl/core/activation-base.hpp" |
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#include "crocoddyl/core/numdiff/activation.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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struct ActivationModelTypes { |
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enum Type { |
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ActivationModelQuad, |
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ActivationModelQuadFlatExp, |
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ActivationModelQuadFlatLog, |
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ActivationModelSmooth1Norm, |
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ActivationModelSmooth2Norm, |
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ActivationModelWeightedQuad, |
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ActivationModelQuadraticBarrier, |
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ActivationModelWeightedQuadraticBarrier, |
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ActivationModel2NormBarrier, |
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NbActivationModelTypes |
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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(NbActivationModelTypes); |
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for (int i = 0; i < NbActivationModelTypes; ++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, ActivationModelTypes::Type type); |
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class ActivationModelFactory { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit ActivationModelFactory(); |
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~ActivationModelFactory(); |
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std::shared_ptr<crocoddyl::ActivationModelAbstract> create( |
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ActivationModelTypes::Type activation_type, std::size_t nr = 5) const; |
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}; |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_ACTIVATION_FACTORY_HPP_ |
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