GCC Code Coverage Report

Directory: ./
File: unittest/factory/actuation.cpp
Date: 2025-02-24 23:41:29
Exec Total Coverage
Lines: 70 77 90.9%
Branches: 46 95 48.4%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2024, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #include "actuation.hpp"
10
11 #include "crocoddyl/core/actuation/actuation-squashing.hpp"
12 #include "crocoddyl/core/actuation/squashing-base.hpp"
13 #include "crocoddyl/core/actuation/squashing/smooth-sat.hpp"
14 #include "crocoddyl/core/utils/exception.hpp"
15 #include "crocoddyl/multibody/actuations/floating-base-thrusters.hpp"
16 #include "crocoddyl/multibody/actuations/floating-base.hpp"
17 #include "crocoddyl/multibody/actuations/full.hpp"
18
19 namespace crocoddyl {
20 namespace unittest {
21
22 const std::vector<ActuationModelTypes::Type> ActuationModelTypes::all(
23 ActuationModelTypes::init_all());
24
25 259 std::ostream& operator<<(std::ostream& os, ActuationModelTypes::Type type) {
26
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 259 switch (type) {
27 57 case ActuationModelTypes::ActuationModelFull:
28 57 os << "ActuationModelFull";
29 57 break;
30 116 case ActuationModelTypes::ActuationModelFloatingBase:
31 116 os << "ActuationModelFloatingBase";
32 116 break;
33 31 case ActuationModelTypes::ActuationModelFloatingBaseThrusters:
34 31 os << "ActuationModelFloatingBaseThrusters";
35 31 break;
36 55 case ActuationModelTypes::ActuationModelSquashingFull:
37 55 os << "ActuationModelSquashingFull";
38 55 break;
39 ✗ case ActuationModelTypes::NbActuationModelTypes:
40 ✗ os << "NbActuationModelTypes";
41 ✗ break;
42 ✗ default:
43 ✗ break;
44 }
45 259 return os;
46 }
47
48 1709 ActuationModelFactory::ActuationModelFactory() {}
49 1709 ActuationModelFactory::~ActuationModelFactory() {}
50
51 std::shared_ptr<crocoddyl::ActuationModelAbstract>
52 1709 ActuationModelFactory::create(ActuationModelTypes::Type actuation_type,
53 StateModelTypes::Type state_type) const {
54 1709 std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation;
55
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 1709 StateModelFactory factory;
56
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 1709 std::shared_ptr<crocoddyl::StateAbstract> state = factory.create(state_type);
57 1709 std::shared_ptr<crocoddyl::StateMultibody> state_multibody;
58 // Thruster objects
59 1709 std::vector<crocoddyl::Thruster> ps;
60 1709 const double d_cog = 0.1525;
61 1709 const double cf = 6.6e-5;
62 1709 const double cm = 1e-6;
63
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 1709 pinocchio::SE3 p1(Eigen::Matrix3d::Identity(), Eigen::Vector3d(d_cog, 0, 0));
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 1709 pinocchio::SE3 p2(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0, d_cog, 0));
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 1709 pinocchio::SE3 p3(Eigen::Matrix3d::Identity(), Eigen::Vector3d(-d_cog, 0, 0));
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 1709 pinocchio::SE3 p4(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0, -d_cog, 0));
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 1709 ps.push_back(crocoddyl::Thruster(p1, cm / cf, crocoddyl::ThrusterType::CCW));
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 1709 ps.push_back(crocoddyl::Thruster(p2, cm / cf, crocoddyl::ThrusterType::CW));
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 1709 ps.push_back(crocoddyl::Thruster(p3, cm / cf, crocoddyl::ThrusterType::CW));
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 1709 ps.push_back(crocoddyl::Thruster(p4, cm / cf, crocoddyl::ThrusterType::CCW));
71 // Actuation Squashing objects
72 1709 std::shared_ptr<crocoddyl::ActuationModelAbstract> act;
73 1709 std::shared_ptr<crocoddyl::SquashingModelSmoothSat> squash;
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 1709 Eigen::VectorXd lb;
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 1709 Eigen::VectorXd ub;
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 1709 switch (actuation_type) {
77 542 case ActuationModelTypes::ActuationModelFull:
78 state_multibody =
79 542 std::static_pointer_cast<crocoddyl::StateMultibody>(state);
80 actuation =
81
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 542 std::make_shared<crocoddyl::ActuationModelFull>(state_multibody);
82 542 break;
83 692 case ActuationModelTypes::ActuationModelFloatingBase:
84 state_multibody =
85 692 std::static_pointer_cast<crocoddyl::StateMultibody>(state);
86
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 1384 actuation = std::make_shared<crocoddyl::ActuationModelFloatingBase>(
87 692 state_multibody);
88 692 break;
89 196 case ActuationModelTypes::ActuationModelFloatingBaseThrusters:
90 state_multibody =
91 196 std::static_pointer_cast<crocoddyl::StateMultibody>(state);
92 actuation =
93
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 392 std::make_shared<crocoddyl::ActuationModelFloatingBaseThrusters>(
94 196 state_multibody, ps);
95 196 break;
96 279 case ActuationModelTypes::ActuationModelSquashingFull:
97 state_multibody =
98 279 std::static_pointer_cast<crocoddyl::StateMultibody>(state);
99
100
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 279 act = std::make_shared<crocoddyl::ActuationModelFull>(state_multibody);
101
102
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 279 lb = Eigen::VectorXd::Zero(state->get_nv());
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 279 ub = Eigen::VectorXd::Zero(state->get_nv());
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 279 lb.fill(-100.0);
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 279 ub.fill(100.0);
106 279 squash = std::make_shared<crocoddyl::SquashingModelSmoothSat>(
107
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 279 lb, ub, state->get_nv());
108
109 279 actuation = std::make_shared<crocoddyl::ActuationSquashingModel>(
110
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 279 act, squash, state->get_nv());
111 279 break;
112 ✗ default:
113 ✗ throw_pretty(__FILE__ ":\n Construct wrong ActuationModelTypes::Type");
114 break;
115 }
116 3418 return actuation;
117 1709 }
118
119 19935 void updateActuation(
120 const std::shared_ptr<crocoddyl::ActuationModelAbstract>& model,
121 const std::shared_ptr<crocoddyl::ActuationDataAbstract>& data,
122 const Eigen::VectorXd& x, const Eigen::VectorXd& u) {
123
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 19935 model->calc(data, x, u);
124 19935 }
125
126 } // namespace unittest
127 } // namespace crocoddyl
128