| Directory: | ./ |
|---|---|
| File: | unittest/factory/activation.hpp |
| Date: | 2025-01-30 11:01:55 |
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| Lines: | 6 | 6 | 100.0% |
| Branches: | 4 | 6 | 66.7% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_ACTIVATION_FACTORY_HPP_ | ||
| 10 | #define CROCODDYL_ACTIVATION_FACTORY_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/activation-base.hpp" | ||
| 13 | #include "crocoddyl/core/numdiff/activation.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | namespace unittest { | ||
| 17 | |||
| 18 | struct ActivationModelTypes { | ||
| 19 | enum Type { | ||
| 20 | ActivationModelQuad, | ||
| 21 | ActivationModelQuadFlatExp, | ||
| 22 | ActivationModelQuadFlatLog, | ||
| 23 | ActivationModelSmooth1Norm, | ||
| 24 | ActivationModelSmooth2Norm, | ||
| 25 | ActivationModelWeightedQuad, | ||
| 26 | ActivationModelQuadraticBarrier, | ||
| 27 | ActivationModelWeightedQuadraticBarrier, | ||
| 28 | ActivationModel2NormBarrier, | ||
| 29 | NbActivationModelTypes | ||
| 30 | }; | ||
| 31 | 23 | static std::vector<Type> init_all() { | |
| 32 | 23 | std::vector<Type> v; | |
| 33 |
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23 | v.reserve(NbActivationModelTypes); |
| 34 |
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230 | for (int i = 0; i < NbActivationModelTypes; ++i) { |
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207 | v.push_back((Type)i); |
| 36 | } | ||
| 37 | 23 | return v; | |
| 38 | } | ||
| 39 | static const std::vector<Type> all; | ||
| 40 | }; | ||
| 41 | |||
| 42 | std::ostream& operator<<(std::ostream& os, ActivationModelTypes::Type type); | ||
| 43 | |||
| 44 | class ActivationModelFactory { | ||
| 45 | public: | ||
| 46 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 47 | |||
| 48 | explicit ActivationModelFactory(); | ||
| 49 | ~ActivationModelFactory(); | ||
| 50 | |||
| 51 | std::shared_ptr<crocoddyl::ActivationModelAbstract> create( | ||
| 52 | ActivationModelTypes::Type activation_type, std::size_t nr = 5) const; | ||
| 53 | }; | ||
| 54 | |||
| 55 | } // namespace unittest | ||
| 56 | } // namespace crocoddyl | ||
| 57 | |||
| 58 | #endif // CROCODDYL_ACTIVATION_FACTORY_HPP_ | ||
| 59 |